Nick Tarallo developed a 2D Trilateration Location Solver for the Matthew0826/NULunabotics repository, focusing on geometric modeling and numerical optimization. He designed a Point class to represent coordinates and implemented distance calculations that simulate measurement error, addressing real-world uncertainty. Leveraging Python and the SciPy library, Nick applied least-squares optimization to estimate unknown positions from multiple reference points, providing margin of error and standard deviation metrics for result reliability. The solution included a clear API and usage example, facilitating integration and future extension. This work demonstrated depth in geometry, numerical analysis, and optimization, delivering a robust foundation for location estimation tasks.