Riccardo BONALLI


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

+33 (0)1 69 85 17 53



Journal articles


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

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


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

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

Bonalli, Hérissé, Trélat
American Control Conference, Seattle, États-Unis, 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