Publications

Journal Papers

  1. A. C. Morelli, C. Giordano, R. Bonalli, and F. Topputo, Characterization of Singular Arcs in Spacecraft Trajectory Optimization. Submitted.
  2. G. Velho, J. Auriol, and R. Bonalli, A Gradient Descent-Ascent Method for Continuous-Time Risk-Averse Optimal Control. Submitted. Pdf file.
  3. R. Bonalli and A. Rudi, Non-Parametric Learning of Stochastic Differential Equations with Fast Rates of Convergence. Submitted. Pdf file.
  4. C. Leparoux, R. Bonalli, B. Hérissé, and F. Jean, Statistical Linearization for Robust Motion Planning. Submitted. Pdf file.
  5. T. Lew, R. Bonalli, L. Janson, and M. Pavone, Estimating the Convex Hull of the Image of a Set with Smooth Boundary: Error Bounds and Applications. Submitted. Pdf file.
  6. T. Lew, R. Bonalli, and M. Pavone, Sample Average Approximation for Stochastic Programming with Equality Constraints. Submitted. Pdf file.
  7. T. Lew, R. Bonalli, and M. Pavone, Risk-Averse Trajectory Optimization via Sample Average Approximation. Accepted in IEEE Robotics and Automation Letters. Pdf file.
  8. R. Bonalli, C. Leparoux, B. Hérissé, and F. Jean, On the Accessibility and Controllability of Statistical Linearization for Stochastic Control: Algebraic Rank Conditions and their Genericity. Mathematical Control and Related Fields, Early Access (2023). Pdf file.
  9. R. Bonalli and B. Bonnet, First-Order Pontryagin Maximum Principle for Risk-Averse Stochastic Optimal Control Problems. Accepted in SIAM J. Control Optim. Pdf file.
  10. R. Bonalli, T. Lew, and M. Pavone, Analysis of Theoretical and Numerical Properties of Sequential Convex Programming for Continuous-Time Optimal Control. IEEE Transactions on Automatic Control, 68 (2023), pp. 4570--4585. Pdf file.
  11. D. Malyuta, T. P. Reynolds, M. Szmuk, T. Lew, R. Bonalli, M. Pavone, and B. Açikmeşe, Convex Optimization for Trajectory Generation: A Tutorial on Generating Dynamically Feasible Trajectories Reliably and Efficiently. IEEE Control Systems Magazine, 42 (2022), pp. 40--113. Pdf file.
  12. M. P. Chapman, R. Bonalli, K. M. Smith, I. Yang, M. Pavone, and C. J. Tomlin, Risk-sensitive safety analysis using Conditional Value-at-Risk. IEEE Transactions on Automatic Control. IEEE Transaction on Automatic Control, 67 (2022), pp. 6521--6536. Pdf file.
  13. R. Bonalli, T. Lew, and M. Pavone, Sequential Convex Programming for Non-Linear Stochastic Optimal Control. ESAIM: Cont. Optim. Calc. Var., 28 (2022), total pp. 34. Pdf file.
  14. R. Bonalli, B. Hérissé, and E. Trélat, Optimal Control of Endo-Atmospheric Launch Vehicle Systems: Geometric and Computational Issues. IEEE Transaction on Automatic Control, 65 (2020), pp. 2418--2433. Pdf file.
  15. R. Bonalli, B. Hérissé, and E. Trélat, Continuity of Pontryagin Extremals with Respect to Delays in Nonlinear Optimal Control. SIAM J. Control Optim., 57 (2019), pp. 1440--1466. Pdf file.

Conference Papers

  1. T. Lew, R. Bonalli, and M. Pavone, Exact Characterization of the Convex Hulls of Reachable Sets. Proc. IEEE Conference on Decision and Control, 2023, Singapore. Pdf file.
  2. F. Mahlknecht, J. I. Alora, S. Jain, E. Schmerling, R. Bonalli, G. Haller, and M. Pavone, Using Spectral Submanifolds for Nonlinear Periodic Control. IEEE Conference on Decision and Control, 2022, Cancun. Pdf file.
  3. T. Lew, L. Janson, R. Bonalli, and M. Pavone, A Simple and Efficient Sampling-based Algorithm for General Reachability Analysis. Learning for Dynamics and Control Conference, 2022, Stanford. Pdf file.
  4. A. Bylard, R. Bonalli, and M. Pavone, Composable Geometric Motion Policies using Multi-Task Pullback Bundle Dynamical Systems. International Conference on Robotics and Automation, 2021, Xi’an. Pdf file.
  5. T. Lew, R. Bonalli, and M. Pavone, Chance-Constrained Sequential Convex Programming for Robust Trajectory Optimization. European Control Conference, 2020, Saint Petersburg. Pdf file.
  6. S. Banerjee, T. Lew, R. Bonalli, A. Alfaadhel, I. A. Alomar, H. M. Shageer, and M. Pavone, Learning-based Warm-Starting for Fast Sequential Convex Programming and Trajectory Optimization. IEEE Aerospace Conference, 2020, Big Sky. Pdf file.
  7. M. Kleinbort, K. Solovey, R. Bonalli, E. Granados, K. E. Bekris, and D. Halperin, Refined Analysis of Asymptotically-Optimal Kinodynamic Planning in the State-Cost Space. International Conference on Robotics and Automation, 2020, Paris. Pdf file.
  8. R. Bonalli, A. Cauligi, A. Bylard, T. Lew and M. Pavone, Trajectory Optimization on Manifolds: A Theoretically-Guaranteed Embedded Sequential Convex Programming Approach. Robotics: Science and Systems, 2019, Freiburg. Pdf file.
  9. R. Bonalli, A. Cauligi, A. Bylard and M. Pavone, GuSTO: Guaranteed Sequential Trajectory Optimization via Sequential Convex Programming. International Conference on Robotics and Automation, 2019, Montreal. Pdf file.
  10. R. Bonalli, B. Hérissé, H. Maurer and Emmanuel Trélat. The Dubins Car Problem with Delay and Applications to Aeronautics Motion Planning Problems. 18th French - German - Italian Conference on Optimization, 2017, Paderborn.
  11. R. Bonalli, B. Hérissé and E. Trélat. Analytical Initialization of a Continuation-Based Indirect Method for Optimal Control of Endo-Atmospheric Launch Vehicle Systems. IFAC World Congress, 2017, Toulouse. Pdf file.
  12. R. Bonalli, B. Hérissé and E. Trélat. Solving Optimal Control Problems for Delayed Control-Affine Systems with Quadratic Cost by Numerical Continuation. American Control Conference, 2017, Seattle. Pdf file.

Ph.D. Thesis

R. Bonalli, Optimal Control of Aerospace Systems with Control-State Constraints and Delays. Defended on July 13, 2018 (Sorbonne Université). Dissertation committee: Jean-Baptiste Caillau, Jean-Michel Coron, Bruno Hérissé, Nicolas Petit, Jean-Baptiste Pomet, Emmanuel Trélat and Hasnaa Zidani. Pdf file.