Accéder directement au contenu

Riccardo Bonalli

32
Documents

Présentation

I am tenured CNRS resercher at Laboratory of Signals and Systems (L2S), Paris-Saclay. Prior to joining L2S, I was Postdoctoral Researcher at the Autonomous Systems Lab (ASL), Department of Aeronautics & Astronautics, Stanford University. I obtained a PhD in Applied Mathematics at Sorbonne Université in collaboration with ONERA-The French Aerospace Lab. I also received a MSc in Mathematical Engineering and a BSc in Physical Engineering both from Politecnico di Milano. The goal of my research is to devise algorithms for autonomous systems that balance optimality and robustness to select the best available strategy and make decisions under uncertainty in dynamic environments. My research philosophy promotes mathematical investigation into the nature of these problems alongside algorithmic design. By leveraging tools from optimal, geometric and stochastic control, differential geometry, optimization, statistical analysis, and machine learning, the goal is to reveal structure and insights to drive major improvements over existing algorithms and create novel paradigms.

Publications

Analysis of Theoretical and Numerical Properties of Sequential Convex Programming for Continuous-Time Optimal Control

Riccardo Bonalli , Thomas Lew , Marco Pavone
IEEE Transactions on Automatic Control, 2023, 68 (8), pp.4570-4585. ⟨10.1109/TAC.2022.3207865⟩
Article dans une revue hal-04305390v1
Image document

On the Accessibility and Controllability of Statistical Linearization for Stochastic Control: Algebraic Rank Conditions and their Genericity

Riccardo Bonalli , Clara Leparoux , Bruno Hérissé , Frédéric Jean
Mathematical Control and Related Fields, 2023, ⟨10.3934/mcrf.2023020⟩
Article dans une revue hal-03737392v1
Image document

First-Order Pontryagin Maximum Principle for Risk-Averse Stochastic Optimal Control Problems

Riccardo Bonalli , Benoît Bonnet
SIAM Journal on Control and Optimization, 2023, 61 (3), pp.1881-1909. ⟨10.1137/22M1489137⟩
Article dans une revue hal-03633263v5
Image document

Risk-Averse Trajectory Optimization via Sample Average Approximation

Thomas Lew , Riccardo Bonalli , Marco Pavone
IEEE Robotics and Automation Letters, 2023, ⟨10.1109/LRA.2023.3331889⟩
Article dans une revue hal-04305407v1

Convex Optimization for Trajectory Generation: A Tutorial on Generating Dynamically Feasible Trajectories Reliably and Efficiently

Danylo Malyuta , Taylor Reynolds , Michael Szmuk , Thomas Lew , Riccardo Bonalli
IEEE Control Systems, 2022, 42 (5), pp.40-113. ⟨10.1109/MCS.2022.3187542⟩
Article dans une revue hal-04305378v1
Image document

Risk-sensitive safety analysis using Conditional Value-at-Risk*

Riccardo Bonalli , Marco Pavone , Margaret P Chapman , Kevin M. Smith , Insoon Yang
IEEE Transactions on Automatic Control, 2022, ⟨10.1109/tac.2021.3131149⟩
Article dans une revue hal-04305360v1
Image document

Sequential convex programming for non-linear stochastic optimal control

Riccardo Bonalli , Thomas Lew , Marco Pavone
ESAIM: Control, Optimisation and Calculus of Variations, 2022, 28, pp.64. ⟨10.1051/cocv/2022060⟩
Article dans une revue hal-03823441v1
Image document

Risk-sensitive safety analysis using Conditional Value-at-Risk

Margaret P Chapman , Riccardo Bonalli , Kevin M Smith , Insoon Yang , Marco Pavone
IEEE Transactions on Automatic Control, 2021, pp.1-1. ⟨10.1109/TAC.2021.3131149⟩
Article dans une revue hal-03467256v1
Image document

Optimal Control of Endo-Atmospheric Launch Vehicle Systems: Geometric and Computational Issues

Riccardo Bonalli , Bruno Hérissé , Emmanuel Trélat
IEEE Transactions on Automatic Control, 2020, 65 (6), pp.2418--2433. ⟨10.1109/tac.2019.2929099⟩
Article dans une revue hal-01626869v2
Image document

Continuity of Pontryagin Extremals with Respect to Delays in Nonlinear Optimal Control

Riccardo Bonalli , Bruno Hérissé , Emmanuel Trélat
SIAM Journal on Control and Optimization, 2019, 57 (2), pp.1440-1466. ⟨10.1137/18m119121x⟩
Article dans une revue hal-03466959v1
Image document

Exact Characterization of the Convex Hulls of Reachable Sets

Thomas Lew , Riccardo Bonalli , Marco Pavone
62nd IEEE Conference on Decision and Control (CDC 2023), Dec 2023, Singapour, Singapore
Communication dans un congrès hal-04305313v1
Image document

Using Spectral Submanifolds for Nonlinear Periodic Control

Florian Mahlknecht , John Alora , Shobhit Jain , Edward Schmerling , Riccardo Bonalli
61st IEEE Conference on Decision and Control (CDC 2022), Dec 2022, Cancun, Mexico. ⟨10.1109/cdc51059.2022.9992400⟩
Communication dans un congrès hal-04305299v1
Image document

A Simple and Efficient Sampling-based Algorithm for General Reachability Analysis

Thomas Lew , Lucas Janson , Riccardo Bonalli , Marco Pavone
Learning for Dynamics and Control Conference 2022, 2022, Stanford (CA), United States
Communication dans un congrès hal-04305268v1
Image document

Composable Geometric Motion Policies using Multi-Task Pullback Bundle Dynamical Systems

Andrew Bylard , Riccardo Bonalli , Marco Pavone
International conference on Robotics and Automation (ICRA 2021), May 2021, Xi'an, China
Communication dans un congrès hal-03467542v1
Image document

Refined Analysis of Asymptotically-Optimal Kinodynamic Planning in the State-Cost Space

Michal Kleinbort , Edgar Granados , Kiril Solovey , Riccardo Bonalli , Kostas E. Bekris
2020 IEEE International Conference on Robotics and Automation (ICRA), May 2020, Paris, France. pp.6344-6350, ⟨10.1109/ICRA40945.2020.9197236⟩
Communication dans un congrès hal-03467674v1
Image document

Chance-Constrained Sequential Convex Programming for Robust Trajectory Optimization

Thomas Lew , Riccardo Bonalli , Marco Pavone
2020 European Control Conference (ECC), May 2020, Saint Petersburg, Russia. pp.1871-1878, ⟨10.23919/ECC51009.2020.9143595⟩
Communication dans un congrès hal-03467576v1
Image document

Learning-based Warm-Starting for Fast Sequential Convex Programming and Trajectory Optimization

Somrita Banerjee , Thomas Lew , Riccardo Bonalli , Abdulaziz Alfaadhel , Ibrahim Abdulaziz Alomar
2020 IEEE Aerospace Conference, Mar 2020, Big Sky, MT, United States. ⟨10.1109/AERO47225.2020.9172293⟩
Communication dans un congrès hal-03467612v1
Image document

Trajectory Optimization on Manifolds: A Theoretically-Guaranteed Embedded Sequential Convex Programming Approach

Riccardo Bonalli , Andrew Bylard , Abhishek Cauligi , Thomas Lew , Marco Pavone
Robotics:Science and Systems 2019, Jun 2019, Fribourg, Germany
Communication dans un congrès hal-03467721v1
Image document

GuSTO: Guaranteed Sequential Trajectory Optimization via Sequential Convex Programming

Riccardo Bonalli , Abhishek Cauligi , Andrew Bylard , Marco Pavone
2019 International Conference on Robotics and Automation (ICRA), May 2019, Montreal, Canada. pp.6741-6747, ⟨10.1109/ICRA.2019.8794205⟩
Communication dans un congrès hal-03467734v1
Image document

Solving Optimal Control Problems for Delayed Control-Affine Systems with Quadratic Cost by Numerical Continuation

Riccardo Bonalli , Bruno Hérissé , Emmanuel Trélat
American Control Conference, May 2017, Seattle, United States
Communication dans un congrès hal-01490437v1

The Dubins Car Problem with Delay and Applications to Aeronautics Motion Planning Problems

Riccardo Bonalli , Bruno Hérissé , Helmut Maurer , Emmanuel Trélat
18th French - German - Italian Conference on Optimization (2017), Sep 2017, Paderborn, Germany
Communication dans un congrès hal-03467801v1
Image document

Analytical Initialization of a Continuation-Based Indirect Method for Optimal Control of Endo-Atmospheric Launch Vehicle Systems

Riccardo Bonalli , Bruno Hérissé , Emmanuel Trélat
IFAC 2017, Jul 2017, Toulouse, France
Communication dans un congrès hal-01490440v1
Image document

Mean-Covariance Steering of a Linear Stochastic System with Input Delay and Additive Noise

Velho Gabriel , Riccardo Bonalli , Jean Auriol , Islam Boussaada
2024
Pré-publication, Document de travail hal-04381695v1
Image document

A Gradient Descent-Ascent Method for Continuous-Time Risk-Averse Optimal Control

Riccardo Bonalli , Velho Gabriel , Jean Auriol
2024
Pré-publication, Document de travail hal-04381732v1
Image document

Estimating the convex hull of the image of a set with smooth boundary: error bounds and applications

Thomas Lew , Riccardo Bonalli , Lucas Janson , Pavone Marco
2024
Pré-publication, Document de travail hal-04381799v1
Image document

Sample Average Approximation for Stochastic Programming with Equality Constraints

Thomas Lew , Riccardo Bonalli , Marco Pavone
2024
Pré-publication, Document de travail hal-04381763v1
Image document

Characterization of Singular Arcs in Spacecraft Trajectory Optimization

Andrea Morelli , Carmine Giordano , Riccardo Bonalli , Francesco Topputo
2024
Pré-publication, Document de travail hal-04381830v1
Image document

Non-Parametric Learning of Stochastic Differential Equations with Fast Rates of Convergence

Riccardo Bonalli , Alessandro Rudi
2024
Pré-publication, Document de travail hal-04381810v1

Statistical Linearization for Robust Motion Planning

Clara Leparoux , Riccardo Bonalli , Bruno Herisse , Frédéric Jean
2023
Pré-publication, Document de travail hal-04013524v1
Image document

Solving nonlinear optimal control problems with state and control delays by shooting methods combined with numerical continuation on the delays

Riccardo Bonalli , Bruno Hérissé , Emmanuel Trélat
2017
Pré-publication, Document de travail hal-01587081v1
Image document

Optimal Control of Aerospace Systems with Control-State Constraints and Delays

Riccardo Bonalli
Optimization and Control [math.OC]. Sorbonne Université, UPMC University of Paris 6, Laboratoire Jacques-Louis Lions; ONERA -- The French Aerospace Lab, Département TIS, Unité NGPA; Inria Paris, Equipe CAGE, 2018. English. ⟨NNT : ⟩
Thèse tel-01848542v3
Image document

Optimal control of aerospace systems with control-state constraints and delays

Riccardo Bonalli
Optimization and Control [math.OC]. Sorbonne Université, 2018. English. ⟨NNT : 2018SORUS388⟩
Thèse tel-02613786v1