BMTP is a biconvex minimum-time planner that convexifies time and derivative constraints jointly, replaces convex decomposition with time-varying separating planes, and guarantees monotone duration decrease on every feasible iterate.
Time-optimal control of a multidimensional integrator chain with applications,
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Biconvex Optimization for Smooth Minimum-Time Trajectories around Convex Obstacles
BMTP is a biconvex minimum-time planner that convexifies time and derivative constraints jointly, replaces convex decomposition with time-varying separating planes, and guarantees monotone duration decrease on every feasible iterate.