  This article provides extensions to existing path-velocity decomposition
based time optimal trajectory planning algorithm \cite{kant1986toward} to
scenarios in which agents move in 2D obstacle environment under double
integrator dynamics with drag term (damped double integrator). Particularly, we
extend the idea of a tangent graph \cite{liu1992path} to $\calC^1$-Tangent
graph to find continuously differentiable ($\calC^1$) shortest path between any
two points. $\calC^1$-Tangent graph has a continuously differentiable
($\calC^1$) path between any two nodes. We also provide analytical expressions
for a near time-optimal velocity profile for an agent moving on these shortest
paths under the damped double integrator with bounded acceleration.
