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
3 rue Joliot Curie
91190 Gif-sur-Yvette, France



Journal articles


Statistical Linearization for Robust Motion Planning

Leparoux, Bonalli, Hérissé, Jean
Syst. control. lett., 189, Elsevier, p. 105825, 2024

Risk-Averse Trajectory Optimization via Sample Average Approximation

Lew, Bonalli, Pavone
IEEE Robotics and Automation Letters, 2023

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

Bonalli, Lew, Pavone
IEEE Transactions on Automatic Control, 68 (8), p. 4570-4585, 2023

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

Bonalli, Bonnet
SIAM j. control optim., 61 (3), Society for Industrial and Applied Mathematics, p. 1881-1909, 2023

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

Malyuta, Reynolds, Szmuk, Lew, Bonalli, Pavone, Açıkmeşe
IEEE Control Systems, 42 (5), p. 40-113, 2022

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

Chapman, Bonalli, Smith, Yang, Pavone, Tomlin
IEEE Transactions on Automatic Control, 2022

Sequential convex programming for non-linear stochastic optimal control

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

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

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

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

Conference papers


Exact Characterization of the Convex Hulls of Reachable Sets

Lew, Bonalli, Pavone
62nd IEEE Conference on Decision and Control (CDC 2023), Singapour, Singapour, 2023

Using Spectral Submanifolds for Nonlinear Periodic Control

Mahlknecht, Alora, Jain, Schmerling, Bonalli, Haller, Pavone
61st IEEE Conference on Decision and Control (CDC 2022), Cancun, Mexique, 2022

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

Lew, Janson, Bonalli, Pavone
Learning for Dynamics and Control Conference 2022, Stanford (CA), États-Unis, 2022

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

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

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

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


Patents and software



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

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