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arXiv · 2609.26311

The Minkowski Wrap: A Relativistic Speed Limiter

Nicoletta Prencipe·Başak Sakçak·Steven M. LaValle
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Abstract

In special relativity, a particle can experience constant acceleration, but at the same time, its motion is constrained by the velocity limit imposed by the speed of light $c$. Inspired by this principle, we propose a method for enforcing velocity bounds in control systems by replacing $c$ with the maximum attainable speed of the system. We refer to this as the ``Minkowski wrap," the operation of deforming the phase portrait of a system so as to enforce desired speed limits. We apply this idea to shape the input generated by a state-feedback stabilizing controller and time-optimal controller considering controlling a double integrator system. By applying Pontryagin's Maximum Principle, we show that the time-optimal control of a wrapped double-integrator system is bang-bang. The proposed method transforms the classical double-integrator dynamics into a ``wrapped" system that respects velocity bounds without the need for clipping, offering an explicit nonlinear feedback control strategy conducive to safety applications.

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Nicoletta Prencipe, Başak Sakçak, Steven M. LaValle. 2026-09-22. The Minkowski Wrap: A Relativistic Speed Limiter. https://arxiv.org/abs/2609.26311

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