Im not 100% sure Mullen formed street skating, but i dont think thats totally what you meant. I think it was more of a natural progression. Tony Alva and Jay Adams going over the coping in a pool might be more to credit for stretching peoples bounderies in skating. Mostly because there was no video and mullen wasnt in to many mags at the time. I think he probably deserves credit for doing a ton of tricks first even if they were done again by a lot of people before they saw him do it. But most if not all 80's/early 90's pioneers in skateboarding hold Mullen in a very high light.
I have never run into Satori before, but what i heard about him seems true, welcome to fluckit.