Riccardo Bonalli

44
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

Publications

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Convex Hulls of Reachable Sets

Thomas Lew , Riccardo Bonalli , Marco Pavone

IEEE Transactions on Automatic Control, 2025, Early Access, pp.1-16

Article dans une revue hal-04802505v1
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Non-Parametric Learning of Stochastic Differential Equations with Fast Rates of Convergence

Riccardo Bonalli , Alessandro Rudi

Foundations of Computational Mathematics, 2025

Article dans une revue hal-04381810v4
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A Gradient Descent-Ascent Method for Continuous-Time Risk-Averse Optimal Control

Gabriel Velho , Jean Auriol , Riccardo Bonalli

Systems and Control Letters, 2025

Article dans une revue hal-04381732v1
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Sample Average Approximation for Stochastic Programming with Equality Constraints

Thomas Lew , Riccardo Bonalli , Marco Pavone

SIAM Journal on Optimization, 2024, 34, pp.3506--3533. ⟨10.1137/23m1573227⟩

Article dans une revue hal-04381763v1
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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

Discrete and Computational Geometry, 2024, pp.1--39. ⟨10.1007/s00454-024-00683-5⟩

Article dans une revue hal-04381799v1
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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, 2024, 14 (2), ⟨10.3934/mcrf.2023020⟩

Article dans une revue hal-03737392v1

Statistical Linearization for Robust Motion Planning

Clara Leparoux , Riccardo Bonalli , Bruno Hérissé , Frédéric Jean

Systems and Control Letters, 2024, 189, pp.105825. ⟨10.1016/j.sysconle.2024.105825⟩

Article dans une revue hal-04013524v1
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Stabilization and Optimal Control of Interconnected SDE - Scalar PDE System

Gabriel Velho , Jean Auriol , Riccardo Bonalli , Islam Boussaada

IEEE Control Systems Letters, In press, ⟨10.1109/LCSYS.2024.3411511⟩

Article dans une revue hal-04690875v1

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
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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
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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
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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

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 et al.

IEEE Control Systems, 2022, 42 (5), pp.40-113. ⟨10.1109/MCS.2022.3187542⟩

Article dans une revue hal-04305378v1
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Risk-sensitive safety analysis using Conditional Value-at-Risk*

Margaret P Chapman , Riccardo Bonalli , Kevin M. Smith , Insoon Yang , Marco Pavone et al.

IEEE Transactions on Automatic Control, 2022, ⟨10.1109/tac.2021.3131149⟩

Article dans une revue hal-04305360v1
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Risk-sensitive safety analysis using Conditional Value-at-Risk

Margaret P Chapman , Riccardo Bonalli , Kevin M Smith , Insoon Yang , Marco Pavone et al.

IEEE Transactions on Automatic Control, 2021, pp.1-1. ⟨10.1109/TAC.2021.3131149⟩

Article dans une revue hal-03467256v1
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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
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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
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Safely Learning Controlled Stochastic Dynamics

Luc Brogat-Motte , Alessandro Rudi , Riccardo Bonalli

NeurIPS 2025 – Thirty-ninth Conference on Neural Information Processing Systems, Dec 2025, San diego (Californie), United States

Communication dans un congrès hal-05384140v1
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Continuous-Time Nonlinear Optimal Control Problem Under Signal Temporal Logic Constraints

En Lai , Riccardo Bonalli , Antoine Girard , Frédéric Jean

IEEE Conference on Decision and Control, 2025, Rio de Janeiro, Brazil

Communication dans un congrès hal-05354088v1
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Stabilization and Optimal Control of a Multi Input-Delayed SDE System

Gabriel Velho , Jean Auriol , Islam Boussaada , Riccardo Bonalli

Joint SSSC, TDS, COSY conference, Jun 2025, Gif-sur Yvette, France

Communication dans un congrès hal-04948872v2
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Optimal Control of an Interconnected SDE -Parabolic PDE System

Gabriel Velho , Jean Auriol , Islam Boussaada , Riccardo Bonalli

IEEE Conference on Decision and Control, 2025, Rio de Janeiro, France

Communication dans un congrès hal-05015547v2
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Mean-Covariance Steering of a Linear Stochastic System with Input Delay and Additive Noise

Gabriel Velho , Riccardo Bonalli , Jean Auriol , Islam Boussaada

22nd European Control Conference (ECC 2024), Jun 2024, Stockholm, Sweden

Communication dans un congrès hal-04381695v1
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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
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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
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Using Spectral Submanifolds for Nonlinear Periodic Control

Florian Mahlknecht , John Alora , Shobhit Jain , Edward Schmerling , Riccardo Bonalli et al.

61st IEEE Conference on Decision and Control (CDC 2022), Dec 2022, Cancun, Mexico. ⟨10.1109/cdc51059.2022.9992400⟩

Communication dans un congrès hal-04305299v1
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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
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Refined Analysis of Asymptotically-Optimal Kinodynamic Planning in the State-Cost Space

Michal Kleinbort , Edgar Granados , Kiril Solovey , Riccardo Bonalli , Kostas E. Bekris et al.

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

Somrita Banerjee , Thomas Lew , Riccardo Bonalli , Abdulaziz Alfaadhel , Ibrahim Abdulaziz Alomar et al.

2020 IEEE Aerospace Conference, Mar 2020, Big Sky, MT, United States. ⟨10.1109/AERO47225.2020.9172293⟩

Communication dans un congrès hal-03467612v1
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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
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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
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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
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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

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
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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
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Risk-Averse Control for Continuous-Time Stochastic System Under Signal Temporal Logic Constraints

En Lai , Riccardo Bonalli , Antoine Girard , Frédéric Jean

2025

Pré-publication, Document de travail hal-05363332v1
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Stabilization and Optimal Control of an Interconnected n + m Hetero-directional Hyperbolic PDE - SDE System

Gabriel Velho , Jean Auriol , Islam Boussaada , Riccardo Bonalli

2025

Pré-publication, Document de travail hal-04935782v1
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A Characterization of Law-Invariant and Coherent Risk Measures through Optimal Transport

Riccardo Bonalli , Benoît Bonnet-Weill , Laurent Pfeiffer

2025

Pré-publication, Document de travail hal-05427782v1
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A Gradient Method for Risk Averse Control of a PDE-SDE Interconnected System

Gabriel Velho , Jean Auriol , Riccardo Bonalli

2025

Pré-publication, Document de travail hal-05391404v1
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Optimal Control Problem Under Signal Temporal Logic Constraints: A Robust Reformulation using Augmented Dynamics

En Lai , Riccardo Bonalli , Antoine Girard , Frédéric Jean

2025

Pré-publication, Document de travail hal-05199224v1
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Spectral properties of magnetic fields on sub-Riemannian contact manifolds

Riccardo Bonalli , Dario Prandi

2026

Pré-publication, Document de travail hal-05429175v2
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Characterization of Singular Arcs in Spacecraft Trajectory Optimization

Andrea Morelli , Carmine Giordano , Riccardo Bonalli , Francesco Topputo

2024

Pré-publication, Document de travail hal-04381830v1
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Learning Controlled Stochastic Differential Equations

Luc Brogat-Motte , Riccardo Bonalli , Alessandro Rudi

2024

Pré-publication, Document de travail hal-04765038v1
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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 (preprint/prepublication) hal-01587081v1