The state constrained bilateral minimal time function

We generalize, to the bilateral case (that is, with variable initial and end points), the main results of Nour and Stern [C. Nour, R.J. Stern, Regularity of the state constrained minimal time function, Nonlinear Anal. 66 (1) (2007) 62–72] and Stern [R.J. Stern, Characterization of the state constrained minimal time function, SIAM J. Control Optim. 43 (2004) 697–707], where the regularity and Hamilton–Jacobi characterization of the state constrained (unilateral) minimal time function were studied.