  Given starting and ending positions and velocities, $L_2$ bounds on the
acceleration and velocity, and the restriction to no more than two constant
control inputs, this paper provides routines to compute the minimal-time path.
Closed form solutions are provided for reaching a position in minimum time with
and without a velocity bound, and for stopping at the goal position.
  A numeric solver is used to reach a goal position and velocity with no more
than two constant control inputs. If a cruising phase at the terminal velocity
is needed, this requires solving a non-linear equation with a single parameter.
Code is provided on GitHub at
https://github.com/RoboticSwarmControl/MinTimeL2pathsConstraints.
