Curved branes with regular support

We study spacetime singularities in a general five-dimensional braneworld with curved branes satisfying four-dimensional maximal symmetry. The bulk is supported by an analog of perfect fluid with the time replaced by the extra coordinate. We show that contrary to the existence of finite-distance singularities from the brane location in any solution with flat (Minkowski) branes, in the case of curved branes there are singularity-free solutions for a range of equations of state compatible with the null energy condition.