Solving for the minimum time bounded acceleration trajectory with prescribed position and velocity at endpoints is a highly nonlinear problem. The methods and bounds developed in this paper distinguish when there is a continuous acceleration solution and reduce the problem of computing the optimal trajectory to a search over two parameters, planar rotation −π/2<θ<π/2 and spatiotemporal dilation 0<α<Λ(θ).
@article{arxiv.1310.5905,
title = {Computing Minimum Time Paths With Bounded Acceleration},
author = {Stewart D. Johnson},
journal= {arXiv preprint arXiv:1310.5905},
year = {2013}
}