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--> [Submitted on 3 Aug 2026] Title:Biconvex Optimization for Smooth Minimum-Time Trajectories around Convex Obstacles View a PDF of the paper titled Biconvex Optimization for Smooth Minimum-Time Trajectories around Convex Obstacles, by Peter Werner and 2 other authors View PDF HTML (experimental) Abstract:We present a biconvex approach for minimum-time motion planning around convex obstacles that is guaranteed to converge, is anytime, and supports derivative constraints to arbitrary order. We jointly convexify the minimum-time objective and all derivative constraints through a change of variables, and handle collision avoidance via time-varying separating planes, reducing the problem to a biconvex program. This program is solved by alternating between computing maximum-margin separating planes and optimizing the trajectory. By only adding planes for obstacles that the current iterate collides with, the trajectory can jump around obstacles and escape local minima. The method is guaranteed to converge starting from a simple collision-free polygonal curve. In our experiments on drone navigation and dual-arm bin unloading, we find that the proposed method reliably produces high-quality trajectories with computation times comparable to state-of-the-art decomposition-based motion planners, while handling a larger class of problems and being substantially more robust to bad initialization. Project page:this https URL Comments: 18 pages, 9 figures, 4 tables. Submitted to IEEE Transactions on Robotics. Project page: this https URL Code: this https URL Subjects: Robotics (cs.RO); Systems and Control (eess.SY) Cite as: arXiv:2608.02834 [cs.RO] (or arXiv:2608.02834v1 [cs.RO] for this version) https://doi.org/10.48550/arXiv.2608.02834 arXiv-issued DOI via DataCite (pending registration) Submission history From: Peter Werner [view email] [v1] Mon, 3 Aug 2026 19:48:24 UTC (15,467 KB) Full-text links: Access Paper: View a PDF of the paper titled Biconvex Optimization for Smooth Minimum-Time Trajectories around Convex Obstacles, by Peter Werner and 2 other authors View PDF HTML (experimental) TeX Source view license Current browse context: cs.RO new | recent | 2026-08 Change to browse by: cs cs.SY eess eess.SY References & Citations NASA ADS Google Scholar Semantic Scholar Loading... Data provided by: Bibliographic Tools Bibliographic and Citation Tools Bibliographic Explorer Toggle Bibliographic Explorer (What is the Explorer?) Connected Papers Toggle Connected Papers (What is Connected Papers?) Litmaps Toggle Litmaps (What is Litmaps?) scite.ai Toggle scite Smart Citations (What are Smart Citations?) Code, Data, Media Code, Data and Media Associated with this Article alphaXiv Toggle alphaXiv (What is alphaXiv?) Links to Code Toggle CatalyzeX Code Finder for Papers (What is CatalyzeX?) DagsHub Toggle DagsHub (What is DagsHub?) GotitPub Toggle Gotit.pub (What is GotitPub?) Huggingface Toggle Hugging Face (What is Huggingface?) ScienceCast Toggle ScienceCast (What is ScienceCast?) Demos Demos Replicate Toggle Replicate (What is Replicate?) Spaces Toggle Hugging Face Spaces (What is Spaces?) Spaces Toggle TXYZ.AI (What is TXYZ.AI?) Related Papers Recommenders and Search Tools Link to Influence Flower Influence Flower (What are Influence Flowers?) Core recommender toggle CORE Recommender (What is CORE?) Author Venue Institution Topic About arXivLabs arXivLabs: experimental projects with community collaborators arXivLabs is a framework that allows collaborators to develop and share new arXiv features directly on our website. Both individuals and organizations that work with arXivLabs have embraced and accepted our values of openness, community, excellence, and user data privacy. arXiv is committed to these values and only works with partners that adhere to them. Have an idea for a project that will add value for arXiv's community? Learn more about arXivLabs. Which authors of this paper are endorsers? | Disable MathJax (What is MathJax?)