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Riccardo BONALLI

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.

L2S, CentraleSupélec
Bât. Breguet B3.30
3 rue Joliot Curie
91190 Gif-sur-Yvette, France

+33 (0)1 69 85 17 53

Publications

Presentation

Journal articles

2022

Sequential convex programming for non-linear stochastic optimal control

Bonalli, Lew, Pavone
ESAIM: COCV, 28, EDP Sciences, p. 64, 2022
2021

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

Chapman, Bonalli, Smith, Yang, Pavone, Tomlin
IEEE Transactions on Automatic Control, p. 1-1, 2021
2020

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

Bonalli, Hérissé, Trélat
IEEE Transactions on Automatic Control, 65 (6), p. 2418–2433, 2020
2019

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

Bonalli, Hérissé, Trélat
SIAM j. control optim., 57 (2), Society for Industrial and Applied Mathematics, p. 1440-1466, 2019

Conference papers

2021

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

Bylard, Bonalli, Pavone
International conference on Robotics and Automation (ICRA 2021), Xi’an, Chine, 2021
2020

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

Kleinbort, Granados, Solovey, Bonalli, Bekris, Halperin
2020 IEEE International Conference on Robotics and Automation (ICRA), Paris, France, 2020

Chance-Constrained Sequential Convex Programming for Robust Trajectory Optimization

Lew, Bonalli, Pavone
2020 European Control Conference (ECC), Saint Petersburg, Russie, 2020

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

Banerjee, Lew, Bonalli, Alfaadhel, Alomar, Shageer, Pavone
2020 IEEE Aerospace Conference, Big Sky, MT, États-Unis, 2020
2019

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

Bonalli, Bylard, Cauligi, Lew, Pavone
Robotics:Science and Systems 2019, Fribourg, Allemagne, 2019

GuSTO: Guaranteed Sequential Trajectory Optimization via Sequential Convex Programming

Bonalli, Cauligi, Bylard, Pavone
2019 International Conference on Robotics and Automation (ICRA), Montreal, Canada, 2019
2017

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

Bonalli, Hérissé, Maurer, Trélat
18th French – German – Italian Conference on Optimization (2017), Paderborn, Allemagne, 2017

Books

Patents and software

These/HDR

2018
Thèses

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

Bonalli
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