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I don't understand why this was necessary given Swarm, Mesos, Kubernetes, AWS... Can someone elaborate?

Unfortunately, none of those services or projects existed when we first started building Atlantis at Ooyala. I haven't been at Ooyala for a while now, so not sure what their plans are for this project now that open source tooling with wider support exists.

This is a good reason.

I hear similar questions about Cloud Foundry: "why did you write Diego instead of using Kubernetes?" -- because Kubernetes didn't exist. "Why BOSH instead of Terraform?" -- Terraform didn't exist (and has different opinions, anyhow). "Why Garden instead of Docker?" -- Docker just didn't exist. And so on.

I call it NIYS: Not Invented Yet Syndrome.

Disclosure: I work for Pivotal, which donates the majority of engineering on Cloud Foundry.

You are comparing apples and oranges.

AWS is IaaS. AWS does offer some 'PaaS' experience through the offerin go ElasticBeanstalk and ECS. But neither came close to a true PaaS.

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