diff --git a/nav2_velocity_smoother/src/velocity_smoother.cpp b/nav2_velocity_smoother/src/velocity_smoother.cpp
index 1c42ff44fb2..04a32081a2a 100644
--- a/nav2_velocity_smoother/src/velocity_smoother.cpp
+++ b/nav2_velocity_smoother/src/velocity_smoother.cpp
@@ -182,9 +182,21 @@ double VelocitySmoother::findEtaConstraint(
   const double v_curr, const double v_cmd, const double accel, const double decel)
 {
   // Exploiting vector scaling properties
-  const double v_component_max = accel / smoothing_frequency_;
-  const double v_component_min = decel / smoothing_frequency_;
-  const double dv = v_cmd - v_curr;
+  double dv = v_cmd - v_curr;
+
+  double v_component_max;
+  double v_component_min;
+
+  // Accelerating if magnitude of v_cmd is above magnitude of v_curr
+  // and if v_cmd and v_curr have the same sign (i.e. speed is NOT passing through 0.0)
+  // Decelerating otherwise
+  if (abs(v_cmd) >= abs(v_curr) && v_curr * v_cmd >= 0.0) {
+    v_component_max = accel / smoothing_frequency_;
+    v_component_min = -accel / smoothing_frequency_;
+  } else {
+    v_component_max = -decel / smoothing_frequency_;
+    v_component_min = decel / smoothing_frequency_;
+  }
 
   if (dv > v_component_max) {
     return v_component_max / dv;
@@ -202,8 +214,21 @@ double VelocitySmoother::applyConstraints(
   const double accel, const double decel, const double eta)
 {
   double dv = v_cmd - v_curr;
-  const double v_component_max = accel / smoothing_frequency_;
-  const double v_component_min = decel / smoothing_frequency_;
+
+  double v_component_max;
+  double v_component_min;
+
+  // Accelerating if magnitude of v_cmd is above magnitude of v_curr
+  // and if v_cmd and v_curr have the same sign (i.e. speed is NOT passing through 0.0)
+  // Decelerating otherwise
+  if (abs(v_cmd) >= abs(v_curr) && v_curr * v_cmd >= 0.0) {
+    v_component_max = accel / smoothing_frequency_;
+    v_component_min = -accel / smoothing_frequency_;
+  } else {
+    v_component_max = -decel / smoothing_frequency_;
+    v_component_min = decel / smoothing_frequency_;
+  }
+
   return v_curr + std::clamp(eta * dv, v_component_min, v_component_max);
 }
 
diff --git a/nav2_velocity_smoother/test/test_velocity_smoother.cpp b/nav2_velocity_smoother/test/test_velocity_smoother.cpp
index dcc82c31ac7..a1b2f5454af 100644
--- a/nav2_velocity_smoother/test/test_velocity_smoother.cpp
+++ b/nav2_velocity_smoother/test/test_velocity_smoother.cpp
@@ -179,17 +179,56 @@ TEST(VelocitySmootherTest, testfindEtaConstraint)
   // default frequency is 20.0
   smoother->configure(state);
 
+  double accel = 0.1;    // dv 0.005
+  double decel = -1.0;  // dv 0.05
+
   // In range
-  EXPECT_EQ(smoother->findEtaConstraint(1.0, 1.0, 1.5, -2.0), -1);
-  EXPECT_EQ(smoother->findEtaConstraint(0.5, 0.55, 1.5, -2.0), -1);
-  EXPECT_EQ(smoother->findEtaConstraint(0.5, 0.45, 1.5, -2.0), -1);
-  // Too high
-  EXPECT_EQ(smoother->findEtaConstraint(1.0, 2.0, 1.5, -2.0), 0.075);
-  // Too low
-  EXPECT_EQ(smoother->findEtaConstraint(1.0, 0.0, 1.5, -2.0), 0.1);
-
-  // In a more realistic situation accelerating linear axis
-  EXPECT_NEAR(smoother->findEtaConstraint(0.40, 0.50, 1.5, -2.0), 0.75, 0.001);
+  // Constant positive
+  EXPECT_EQ(smoother->findEtaConstraint(1.0, 1.0, accel, decel), -1);
+  // Constant negative
+  EXPECT_EQ(smoother->findEtaConstraint(-1.0, -1.0, accel, decel), -1);
+  // Positive To Positive Accel
+  EXPECT_EQ(smoother->findEtaConstraint(0.5, 0.504, accel, decel), -1);
+  // Positive To Positive Decel
+  EXPECT_EQ(smoother->findEtaConstraint(0.5, 0.46, accel, decel), -1);
+  // 0 To Positive Accel
+  EXPECT_EQ(smoother->findEtaConstraint(0.0, 0.004, accel, decel), -1);
+  // Positive To 0 Decel
+  EXPECT_EQ(smoother->findEtaConstraint(0.04, 0.0, accel, decel), -1);
+  // Negative To Negative Accel
+  EXPECT_EQ(smoother->findEtaConstraint(-0.5, -0.504, accel, decel), -1);
+  // Negative To Negative Decel
+  EXPECT_EQ(smoother->findEtaConstraint(-0.5, -0.46, accel, decel), -1);
+  // 0 To Negative Accel
+  EXPECT_EQ(smoother->findEtaConstraint(0.0, -0.004, accel, decel), -1);
+  // Negative To 0 Decel
+  EXPECT_EQ(smoother->findEtaConstraint(-0.04, 0.0, accel, decel), -1);
+  // Negative to Positive
+  EXPECT_EQ(smoother->findEtaConstraint(-0.02, 0.02, accel, decel), -1);
+  // Positive to Negative
+  EXPECT_EQ(smoother->findEtaConstraint(0.02, -0.02, accel, decel), -1);
+
+  // Faster than limit
+  // Positive To Positive Accel
+  EXPECT_EQ(smoother->findEtaConstraint(0.5, 1.5, accel, decel), 0.005);
+  // Positive To Positive Decel
+  EXPECT_EQ(smoother->findEtaConstraint(1.5, 0.5, accel, decel), 0.05);
+  // 0 To Positive Accel
+  EXPECT_EQ(smoother->findEtaConstraint(0.0, 1.0, accel, decel), 0.005);
+  // Positive To 0 Decel
+  EXPECT_EQ(smoother->findEtaConstraint(1.0, 0.0, accel, decel), 0.05);
+  // Negative To Negative Accel
+  EXPECT_EQ(smoother->findEtaConstraint(-0.5, -1.5, accel, decel), 0.005);
+  // Negative To Negative Decel
+  EXPECT_EQ(smoother->findEtaConstraint(-1.5, -0.5, accel, decel), 0.05);
+  // 0 To Negative Accel
+  EXPECT_EQ(smoother->findEtaConstraint(0.0, -1.0, accel, decel), 0.005);
+  // Negative To 0 Decel
+  EXPECT_EQ(smoother->findEtaConstraint(-1.0, 0.0, accel, decel), 0.05);
+  // Negative to Positive
+  EXPECT_EQ(smoother->findEtaConstraint(-0.2, 0.8, accel, decel), 0.05);
+  // Positive to Negative
+  EXPECT_EQ(smoother->findEtaConstraint(0.2, -0.8, accel, decel), 0.05);
 }
 
 TEST(VelocitySmootherTest, testapplyConstraints)
@@ -217,6 +256,300 @@ TEST(VelocitySmootherTest, testapplyConstraints)
   EXPECT_NEAR(smoother->applyConstraints(0.8, 1.0, 3.2, -3.2, 0.75), 1.075, 0.95);
 }
 
+TEST(VelocitySmootherTest, testapplyConstraintsPositiveToPositiveAccel)
+{
+  auto smoother =
+    std::make_shared<VelSmootherShim>();
+  rclcpp_lifecycle::State state;
+  // default frequency is 20.0
+  smoother->configure(state);
+  double no_eta = 1.0;
+  double accel = 0.1;
+  double decel = -1.0;
+  double dv_accel = accel / 20.0;
+  double init_vel, target_vel, v_curr;
+  uint steps_to_target;
+
+  init_vel = 1.0;
+  target_vel = 2.0;
+  steps_to_target = abs(target_vel - init_vel) / dv_accel;
+
+  v_curr = init_vel;
+  for (size_t i = 1; i < steps_to_target + 1; i++) {
+    v_curr = smoother->applyConstraints(v_curr, target_vel, accel, decel, no_eta);
+    EXPECT_NEAR(v_curr, init_vel + i * dv_accel, 0.001);
+  }
+  EXPECT_NEAR(v_curr, target_vel, 0.001);
+  v_curr = smoother->applyConstraints(v_curr, target_vel, accel, decel, no_eta);
+  EXPECT_NEAR(v_curr, target_vel, 0.001);
+}
+
+TEST(VelocitySmootherTest, testapplyConstraintsZeroToPositiveAccel)
+{
+  auto smoother =
+    std::make_shared<VelSmootherShim>();
+  rclcpp_lifecycle::State state;
+  // default frequency is 20.0
+  smoother->configure(state);
+  double no_eta = 1.0;
+  double accel = 0.1;
+  double decel = -1.0;
+  double dv_accel = accel / 20.0;
+  double init_vel, target_vel, v_curr;
+  uint steps_to_target;
+
+  init_vel = 0.0;
+  target_vel = 2.0;
+  steps_to_target = abs(target_vel - init_vel) / dv_accel;
+
+  v_curr = init_vel;
+  for (size_t i = 1; i < steps_to_target + 1; i++) {
+    v_curr = smoother->applyConstraints(v_curr, target_vel, accel, decel, no_eta);
+    EXPECT_NEAR(v_curr, init_vel + i * dv_accel, 0.001);
+  }
+  EXPECT_NEAR(v_curr, target_vel, 0.001);
+  v_curr = smoother->applyConstraints(v_curr, target_vel, accel, decel, no_eta);
+  EXPECT_NEAR(v_curr, target_vel, 0.001);
+}
+
+TEST(VelocitySmootherTest, testapplyConstraintsNegativeToPositiveDecelAccel)
+{
+  auto smoother =
+    std::make_shared<VelSmootherShim>();
+  rclcpp_lifecycle::State state;
+  // default frequency is 20.0
+  smoother->configure(state);
+  double no_eta = 1.0;
+  double accel = 0.1;
+  double decel = -1.0;
+  double dv_accel = accel / 20.0;
+  double dv_decel = -decel / 20.0;
+  double init_vel, target_vel, v_curr;
+  uint steps_below_zero, steps_above_zero;
+
+  init_vel = -1.0;
+  target_vel = 2.0;
+  steps_below_zero = -init_vel / dv_decel;
+  steps_above_zero = target_vel / dv_accel;
+
+  v_curr = init_vel;
+  for (size_t i = 1; i < steps_below_zero + steps_above_zero + 1; i++) {
+    v_curr = smoother->applyConstraints(v_curr, target_vel, accel, decel, no_eta);
+    if (v_curr > 0) {
+      EXPECT_NEAR(v_curr, (i - steps_below_zero) * dv_accel, 0.001);
+    } else {
+      EXPECT_NEAR(v_curr, init_vel + i * dv_decel, 0.001);
+    }
+  }
+  EXPECT_NEAR(v_curr, target_vel, 0.001);
+  v_curr = smoother->applyConstraints(v_curr, target_vel, accel, decel, no_eta);
+  EXPECT_NEAR(v_curr, target_vel, 0.001);
+}
+
+TEST(VelocitySmootherTest, testapplyConstraintsNegativeToNegativeAccel)
+{
+  auto smoother =
+    std::make_shared<VelSmootherShim>();
+  rclcpp_lifecycle::State state;
+  // default frequency is 20.0
+  smoother->configure(state);
+  double no_eta = 1.0;
+  double accel = 0.1;
+  double decel = -1.0;
+  double dv_accel = accel / 20.0;
+  double init_vel, target_vel, v_curr;
+  uint steps_to_target;
+
+  init_vel = -1.0;
+  target_vel = -2.0;
+  steps_to_target = abs(target_vel - init_vel) / dv_accel;
+
+  v_curr = init_vel;
+  for (size_t i = 1; i < steps_to_target + 1; i++) {
+    v_curr = smoother->applyConstraints(v_curr, target_vel, accel, decel, no_eta);
+    EXPECT_NEAR(v_curr, init_vel - i * dv_accel, 0.001);
+  }
+  EXPECT_NEAR(v_curr, target_vel, 0.001);
+  v_curr = smoother->applyConstraints(v_curr, target_vel, accel, decel, no_eta);
+  EXPECT_NEAR(v_curr, target_vel, 0.001);
+}
+
+TEST(VelocitySmootherTest, testapplyConstraintsZeroToNegativeAccel)
+{
+  auto smoother =
+    std::make_shared<VelSmootherShim>();
+  rclcpp_lifecycle::State state;
+  // default frequency is 20.0
+  smoother->configure(state);
+  double no_eta = 1.0;
+  double accel = 0.1;
+  double decel = -1.0;
+  double dv_accel = accel / 20.0;
+  double init_vel, target_vel, v_curr;
+  uint steps_to_target;
+
+  init_vel = 0.0;
+  target_vel = -2.0;
+  steps_to_target = abs(target_vel - init_vel) / dv_accel;
+
+  v_curr = init_vel;
+  for (size_t i = 1; i < steps_to_target + 1; i++) {
+    v_curr = smoother->applyConstraints(v_curr, target_vel, accel, decel, no_eta);
+    EXPECT_NEAR(v_curr, init_vel - i * dv_accel, 0.001);
+  }
+  EXPECT_NEAR(v_curr, target_vel, 0.001);
+  v_curr = smoother->applyConstraints(v_curr, target_vel, accel, decel, no_eta);
+  EXPECT_NEAR(v_curr, target_vel, 0.001);
+}
+
+TEST(VelocitySmootherTest, testapplyConstraintsPositiveToNegativeDecelAccel)
+{
+  auto smoother =
+    std::make_shared<VelSmootherShim>();
+  rclcpp_lifecycle::State state;
+  // default frequency is 20.0
+  smoother->configure(state);
+  double no_eta = 1.0;
+  double accel = 0.1;
+  double decel = -1.0;
+  double dv_accel = accel / 20.0;
+  double dv_decel = -decel / 20.0;
+  double init_vel, target_vel, v_curr;
+  uint steps_below_zero, steps_above_zero;
+
+  init_vel = 1.0;
+  target_vel = -2.0;
+  steps_above_zero = init_vel / dv_decel;
+  steps_below_zero = -target_vel / dv_accel;
+
+  v_curr = init_vel;
+  for (size_t i = 1; i < steps_below_zero + steps_above_zero + 1; i++) {
+    v_curr = smoother->applyConstraints(v_curr, target_vel, accel, decel, no_eta);
+    if (v_curr < 0) {
+      EXPECT_NEAR(v_curr, -static_cast<int>(i - steps_above_zero) * dv_accel, 0.001);
+    } else {
+      EXPECT_NEAR(v_curr, init_vel - i * dv_decel, 0.001);
+    }
+  }
+  EXPECT_NEAR(v_curr, target_vel, 0.001);
+  v_curr = smoother->applyConstraints(v_curr, target_vel, accel, decel, no_eta);
+  EXPECT_NEAR(v_curr, target_vel, 0.001);
+}
+
+TEST(VelocitySmootherTest, testapplyConstraintsPositiveToPositiveDecel)
+{
+  auto smoother =
+    std::make_shared<VelSmootherShim>();
+  rclcpp_lifecycle::State state;
+  // default frequency is 20.0
+  smoother->configure(state);
+  double no_eta = 1.0;
+
+  // Test asymetric accel/decel use cases
+  double accel = 0.1;
+  double decel = -1.0;
+  double dv_decel = -decel / 20.0;
+  double init_vel, target_vel, v_curr;
+  uint steps_to_target;
+
+  init_vel = 2.0;
+  target_vel = 1.0;
+  steps_to_target = abs(target_vel - init_vel) / dv_decel;
+
+  v_curr = init_vel;
+  for (size_t i = 1; i < steps_to_target + 1; i++) {
+    v_curr = smoother->applyConstraints(v_curr, target_vel, accel, decel, no_eta);
+    EXPECT_NEAR(v_curr, init_vel - i * dv_decel, 0.001);
+  }
+  EXPECT_NEAR(v_curr, target_vel, 0.001);
+  v_curr = smoother->applyConstraints(v_curr, target_vel, accel, decel, no_eta);
+  EXPECT_NEAR(v_curr, target_vel, 0.001);
+}
+
+TEST(VelocitySmootherTest, testapplyConstraintsPositiveToZeroDecel)
+{
+  auto smoother =
+    std::make_shared<VelSmootherShim>();
+  rclcpp_lifecycle::State state;
+  // default frequency is 20.0
+  smoother->configure(state);
+  double no_eta = 1.0;
+  double accel = 0.1;
+  double decel = -1.0;
+  double dv_decel = -decel / 20.0;
+  double init_vel, target_vel, v_curr;
+  uint steps_to_target;
+
+  init_vel = 2.0;
+  target_vel = 0.0;
+  steps_to_target = abs(target_vel - init_vel) / dv_decel;
+
+  v_curr = init_vel;
+  for (size_t i = 1; i < steps_to_target + 1; i++) {
+    v_curr = smoother->applyConstraints(v_curr, target_vel, accel, decel, no_eta);
+    EXPECT_NEAR(v_curr, init_vel - i * dv_decel, 0.001);
+  }
+  EXPECT_NEAR(v_curr, target_vel, 0.001);
+  v_curr = smoother->applyConstraints(v_curr, target_vel, accel, decel, no_eta);
+  EXPECT_NEAR(v_curr, target_vel, 0.001);
+}
+
+TEST(VelocitySmootherTest, testapplyConstraintsNegativeToNegativeDecel)
+{
+  auto smoother =
+    std::make_shared<VelSmootherShim>();
+  rclcpp_lifecycle::State state;
+  // default frequency is 20.0
+  smoother->configure(state);
+  double no_eta = 1.0;
+  double accel = 0.1;
+  double decel = -1.0;
+  double dv_decel = -decel / 20.0;
+  double init_vel, target_vel, v_curr;
+  uint steps_to_target;
+
+  init_vel = -2.0;
+  target_vel = -1.0;
+  steps_to_target = abs(target_vel - init_vel) / dv_decel;
+
+  v_curr = init_vel;
+  for (size_t i = 1; i < steps_to_target + 1; i++) {
+    v_curr = smoother->applyConstraints(v_curr, target_vel, accel, decel, no_eta);
+    EXPECT_NEAR(v_curr, init_vel + i * dv_decel, 0.001);
+  }
+  EXPECT_NEAR(v_curr, target_vel, 0.001);
+  v_curr = smoother->applyConstraints(v_curr, target_vel, accel, decel, no_eta);
+  EXPECT_NEAR(v_curr, target_vel, 0.001);
+}
+
+TEST(VelocitySmootherTest, testapplyConstraintsNegativeToZeroDecel)
+{
+  auto smoother =
+    std::make_shared<VelSmootherShim>();
+  rclcpp_lifecycle::State state;
+  // default frequency is 20.0
+  smoother->configure(state);
+  double no_eta = 1.0;
+  double accel = 0.1;
+  double decel = -1.0;
+  double dv_decel = -decel / 20.0;
+  double init_vel, target_vel, v_curr;
+  uint steps_to_target;
+
+  init_vel = -2.0;
+  target_vel = 0.0;
+  steps_to_target = abs(target_vel - init_vel) / dv_decel;
+
+  v_curr = init_vel;
+  for (size_t i = 1; i < steps_to_target + 1; i++) {
+    v_curr = smoother->applyConstraints(v_curr, target_vel, accel, decel, no_eta);
+    EXPECT_NEAR(v_curr, init_vel + i * dv_decel, 0.001);
+  }
+  EXPECT_NEAR(v_curr, target_vel, 0.001);
+  v_curr = smoother->applyConstraints(v_curr, target_vel, accel, decel, no_eta);
+  EXPECT_NEAR(v_curr, target_vel, 0.001);
+}
+
 TEST(VelocitySmootherTest, testCommandCallback)
 {
   auto smoother =