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A Simple and Efficient Sampling-based Algorithm for General Reachability Analysis


Dec 10, 2021
Thomas Lew, Lucas Janson, Riccardo Bonalli, Marco Pavone


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Convex Optimization for Trajectory Generation


Jun 16, 2021
Danylo Malyuta, Taylor P. Reynolds, Michael Szmuk, Thomas Lew, Riccardo Bonalli, Marco Pavone, Behcet Acikmese

* 68 pages, 42 figures, 5 tables. This work has been submitted to the IEEE for possible publication 

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Composable Geometric Motion Policies using Multi-Task Pullback Bundle Dynamical Systems


Jan 05, 2021
Andrew Bylard, Riccardo Bonalli, Marco Pavone


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Analysis of Theoretical and Numerical Properties of Sequential Convex Programming for Continuous-Time Optimal Control


Sep 10, 2020
Riccardo Bonalli, Thomas Lew, Marco Pavone


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RRT2.0 for Fast and Optimal Kinodynamic Sampling-Based Motion Planning


Sep 13, 2019
Michal Kleinbort, Kiril Solovey, Riccardo Bonalli, Kostas E. Bekris, Dan Halperin


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Trajectory Optimization on Manifolds: A Theoretically-Guaranteed Embedded Sequential Convex Programming Approach


May 18, 2019
Riccardo Bonalli, Andrew Bylard, Abhishek Cauligi, Thomas Lew, Marco Pavone

* Extended version 

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GuSTO: Guaranteed Sequential Trajectory Optimization via Sequential Convex Programming


Mar 01, 2019
Riccardo Bonalli, Abhishek Cauligi, Andrew Bylard, Marco Pavone

* Extended version 

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