2 citations · 3 across the 6 of their papers we have counts for
6 papers
Statistical Linearization for Robust Motion Planning
Clara Leparoux, Riccardo Bonalli, Bruno Hérissé +1
The goal of robust motion planning consists of designing open-loop controls which optimally steer a system to a specific target region while mitigating uncertainties and disturbanc…
On the Accessibility and Controllability of Statistical Linearization for Stochastic Control: Algebraic Rank Conditions and their Genericity
Riccardo Bonalli, Clara Leparoux, Bruno Hérissé +1
Statistical linearization has recently seen a particular surge of interest as a numerically cheap method for robust control of stochastic differential equations. Although it has al…
Continuity of Pontryagin extremals with respect to delays in nonlinear optimal control
Bruno Hérissé, Riccardo Bonalli, Emmanuel Trélat
Consider a general nonlinear optimal control problem in finite dimension, with constant state and/or control delays. By the Pontryagin Maximum Principle, any optimal trajectory is…
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
In this paper we introduce a new procedure to solve nonlinear optimal control problems with delays which exploits indirect methods combined with numerical homotopy procedures. It i…
Analytical Initialization of a Continuation-Based Indirect Method for Optimal Control of Endo-Atmospheric Launch Vehicle Systems
Riccardo Bonalli, Bruno Hérissé, Emmanuel Trélat
In this paper, we propose a strategy to solve endo-atmospheric launch vehicle optimal control problems using indirect methods. More specifically, we combine shooting methods with a…
Solving Optimal Control Problems for Delayed Control-Affine Systems with Quadratic Cost by Numerical Continuation
Riccardo Bonalli, Bruno Hérissé, Emmanuel Trélat
- In this paper we introduce a new method to solve fixed-delay optimal control problems which exploits numerical homotopy procedures. It is known that solving this kind of problems…