119 citations · 160 across the 15 of their papers we have counts for
17 papers
Spectral properties of magnetic fields on sub-Riemannian contact manifolds
Riccardo Bonalli, Dario Prandi
Motivated by some recent studies of the magnetic Laplacian on Riemannian manifolds, we focus on the first eigenvalue of the magnetic horizontal Laplacian on contact manifolds. We c…
A Characterization of Law-Invariant and Coherent Risk Measures through Optimal Transport
Riccardo Bonalli, Benoît Bonnet-Weill, Laurent Pfeiffer
In this article, we propose a novel characterization of law-invariant and coherent risk measures, based on a generalized optimal transport problem in which the second marginal of t…
Characterization of Singular Arcs in Spacecraft Trajectory Optimization
Andrea Carlo Morelli, Carmine Giordano, Riccardo Bonalli +1
Low-thrust engines for interplanetary spacecraft transfers allow cost-effective space missions with flexible launch and arrival dates. To find fuel-optimal trajectories, an optimal…
Risk-Averse Trajectory Optimization via Sample Average Approximation
Thomas Lew, Riccardo Bonalli, Marco Pavone
Trajectory optimization under uncertainty underpins a wide range of applications in robotics. However, existing methods are limited in terms of reasoning about sources of epistemic…
Convex Hulls of Reachable Sets
Thomas Lew, Riccardo Bonalli, Marco Pavone
We study the convex hulls of reachable sets of nonlinear systems with bounded disturbances and uncertain initial conditions. Reachable sets play a critical role in control, but rem…
Estimating the Convex Hull of the Image of a Set with Smooth Boundary: Error Bounds and Applications
Thomas Lew, Riccardo Bonalli, Lucas Janson +1
We study the problem of estimating the convex hull of the image of a compact set with smooth boundary through a smooth function $f:…
Using Spectral Submanifolds for Nonlinear Periodic Control
Florian Mahlknecht, John Irvin Alora, Shobhit Jain +4
Very high dimensional nonlinear systems arise in many engineering problems due to semi-discretization of the governing partial differential equations, e.g. through finite element m…
Sample Average Approximation for Stochastic Programming with Equality Constraints
Thomas Lew, Riccardo Bonalli, Marco Pavone
We revisit the sample average approximation (SAA) approach for non-convex stochastic programming. We show that applying the SAA approach to problems with expected value equality co…
A Simple and Efficient Sampling-based Algorithm for General Reachability Analysis
Thomas Lew, Lucas Janson, Riccardo Bonalli +1
In this work, we analyze an efficient sampling-based algorithm for general-purpose reachability analysis, which remains a notoriously challenging problem with applications ranging…
Convex Optimization for Trajectory Generation
Danylo Malyuta, Taylor P. Reynolds, Michael Szmuk +4
Reliable and efficient trajectory generation methods are a fundamental need for autonomous dynamical systems of tomorrow. The goal of this article is to provide a comprehensive tut…
Risk-sensitive safety analysis using Conditional Value-at-Risk
Margaret P. Chapman, Riccardo Bonalli, Kevin M. Smith +3
This paper develops a safety analysis method for stochastic systems that is sensitive to the possibility and severity of rare harmful outcomes. We define risk-sensitive safe sets a…
Composable Geometric Motion Policies using Multi-Task Pullback Bundle Dynamical Systems
Andrew Bylard, Riccardo Bonalli, Marco Pavone
Despite decades of work in fast reactive planning and control, challenges remain in developing reactive motion policies on non-Euclidean manifolds and enforcing constraints while a…
Sequential Convex Programming For Non-Linear Stochastic Optimal Control
Riccardo Bonalli, Thomas Lew, Marco Pavone
This work introduces a sequential convex programming framework for non-linear, finite-dimensional stochastic optimal control, where uncertainties are modeled by a multidimensional…
Analysis of Theoretical and Numerical Properties of Sequential Convex Programming for Continuous-Time Optimal Control
Riccardo Bonalli, Thomas Lew, Marco Pavone
Sequential Convex Programming (SCP) has recently gained significant popularity as an effective method for solving optimal control problems and has been successfully applied in seve…
Trajectory Optimization on Manifolds: A Theoretically-Guaranteed Embedded Sequential Convex Programming Approach
Riccardo Bonalli, Andrew Bylard, Abhishek Cauligi +2
Sequential Convex Programming (SCP) has recently gained popularity as a tool for trajectory optimization due to its sound theoretical properties and practical performance. Yet, mos…
GuSTO: Guaranteed Sequential Trajectory Optimization via Sequential Convex Programming
Riccardo Bonalli, Abhishek Cauligi, Andrew Bylard +1
Sequential Convex Programming (SCP) has recently seen a surge of interest as a tool for trajectory optimization. However, most available methods lack rigorous performance guarantee…
Optimal Control of Endo-Atmospheric Launch Vehicle Systems: Geometric and Computational Issues
Riccardo Bonalli, Bruno Hérissé, Emmanuel Trélat
In this paper we develop a geometric analysis and a numerical algorithm, based on indirect methods, to solve optimal guidance of endo-atmospheric launch vehicle systems under mixed…