We find a time-optimal trajectory in a time-varying 3D flow using a front propagation method.

For more info, see the paper at
http://www2.esm.vt.edu/~sdross/papers/index.html#front3D

“Set-based optimal control in 3D time-varying velocity fields using alpha-shapes”, in preparation.
(N.M.W. Sharp, S.D. Ross [201-])

source