# A General, Fast, and Robust Implementation of the Time-Optimal Path Parameterization Algorithm

arXiv: https://arxiv.org/abs/1312.6533 · HTML: https://mlsanity.com/paper/1312.6533/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 23 Dec 2013.

## Built on by (most cited first, 1 of 1)

- [Multi-Objective Trajectory Planning with Dual-Encoder](https://mlsanity.com/paper/2403.17353/) (2024)

## Abstract (arXiv)

Finding the Time-Optimal Parameterization of a given Path (TOPP) subject to kinodynamic constraints is an essential component in many robotic theories and applications. The objective of this article is to provide a general, fast and robust implementation of this component. For this, we give a complete solution to the issue of dynamic singularities, which are the main cause of failure in existing implementations. We then present an open-source implementation of the algorithm in C++/Python and demonstrate its robustness and speed in various robotics settings.