Handbook of Semidefinite Programming

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Publisher : Springer Science & Business Media
ISBN 13 : 1461543819
Total Pages : 660 pages
Book Rating : 4.4/5 (615 download)

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Book Synopsis Handbook of Semidefinite Programming by : Henry Wolkowicz

Download or read book Handbook of Semidefinite Programming written by Henry Wolkowicz and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 660 pages. Available in PDF, EPUB and Kindle. Book excerpt: Semidefinite programming (SDP) is one of the most exciting and active research areas in optimization. It has and continues to attract researchers with very diverse backgrounds, including experts in convex programming, linear algebra, numerical optimization, combinatorial optimization, control theory, and statistics. This tremendous research activity has been prompted by the discovery of important applications in combinatorial optimization and control theory, the development of efficient interior-point algorithms for solving SDP problems, and the depth and elegance of the underlying optimization theory. The Handbook of Semidefinite Programming offers an advanced and broad overview of the current state of the field. It contains nineteen chapters written by the leading experts on the subject. The chapters are organized in three parts: Theory, Algorithms, and Applications and Extensions.

Interior Point Methods for Linear Optimization

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Publisher : Springer Science & Business Media
ISBN 13 : 0387263799
Total Pages : 501 pages
Book Rating : 4.3/5 (872 download)

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Book Synopsis Interior Point Methods for Linear Optimization by : Cornelis Roos

Download or read book Interior Point Methods for Linear Optimization written by Cornelis Roos and published by Springer Science & Business Media. This book was released on 2006-02-08 with total page 501 pages. Available in PDF, EPUB and Kindle. Book excerpt: The era of interior point methods (IPMs) was initiated by N. Karmarkar’s 1984 paper, which triggered turbulent research and reshaped almost all areas of optimization theory and computational practice. This book offers comprehensive coverage of IPMs. It details the main results of more than a decade of IPM research. Numerous exercises are provided to aid in understanding the material.

Primal-dual Interior-Point Methods

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Publisher : SIAM
ISBN 13 : 9781611971453
Total Pages : 309 pages
Book Rating : 4.9/5 (714 download)

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Book Synopsis Primal-dual Interior-Point Methods by : Stephen J. Wright

Download or read book Primal-dual Interior-Point Methods written by Stephen J. Wright and published by SIAM. This book was released on 1997-01-01 with total page 309 pages. Available in PDF, EPUB and Kindle. Book excerpt: In the past decade, primal-dual algorithms have emerged as the most important and useful algorithms from the interior-point class. This book presents the major primal-dual algorithms for linear programming in straightforward terms. A thorough description of the theoretical properties of these methods is given, as are a discussion of practical and computational aspects and a summary of current software. This is an excellent, timely, and well-written work. The major primal-dual algorithms covered in this book are path-following algorithms (short- and long-step, predictor-corrector), potential-reduction algorithms, and infeasible-interior-point algorithms. A unified treatment of superlinear convergence, finite termination, and detection of infeasible problems is presented. Issues relevant to practical implementation are also discussed, including sparse linear algebra and a complete specification of Mehrotra's predictor-corrector algorithm. Also treated are extensions of primal-dual algorithms to more general problems such as monotone complementarity, semidefinite programming, and general convex programming problems.

Encyclopedia of Optimization

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Publisher : Springer Science & Business Media
ISBN 13 : 0387747583
Total Pages : 4646 pages
Book Rating : 4.3/5 (877 download)

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Book Synopsis Encyclopedia of Optimization by : Christodoulos A. Floudas

Download or read book Encyclopedia of Optimization written by Christodoulos A. Floudas and published by Springer Science & Business Media. This book was released on 2008-09-04 with total page 4646 pages. Available in PDF, EPUB and Kindle. Book excerpt: The goal of the Encyclopedia of Optimization is to introduce the reader to a complete set of topics that show the spectrum of research, the richness of ideas, and the breadth of applications that has come from this field. The second edition builds on the success of the former edition with more than 150 completely new entries, designed to ensure that the reference addresses recent areas where optimization theories and techniques have advanced. Particularly heavy attention resulted in health science and transportation, with entries such as "Algorithms for Genomics", "Optimization and Radiotherapy Treatment Design", and "Crew Scheduling".

Interior-point Polynomial Algorithms in Convex Programming

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Publisher : SIAM
ISBN 13 : 9781611970791
Total Pages : 414 pages
Book Rating : 4.9/5 (77 download)

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Book Synopsis Interior-point Polynomial Algorithms in Convex Programming by : Yurii Nesterov

Download or read book Interior-point Polynomial Algorithms in Convex Programming written by Yurii Nesterov and published by SIAM. This book was released on 1994-01-01 with total page 414 pages. Available in PDF, EPUB and Kindle. Book excerpt: Specialists working in the areas of optimization, mathematical programming, or control theory will find this book invaluable for studying interior-point methods for linear and quadratic programming, polynomial-time methods for nonlinear convex programming, and efficient computational methods for control problems and variational inequalities. A background in linear algebra and mathematical programming is necessary to understand the book. The detailed proofs and lack of "numerical examples" might suggest that the book is of limited value to the reader interested in the practical aspects of convex optimization, but nothing could be further from the truth. An entire chapter is devoted to potential reduction methods precisely because of their great efficiency in practice.

Polyhedral and Semidefinite Programming Methods in Combinatorial Optimization

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Publisher : American Mathematical Soc.
ISBN 13 : 1470428113
Total Pages : 233 pages
Book Rating : 4.4/5 (74 download)

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Book Synopsis Polyhedral and Semidefinite Programming Methods in Combinatorial Optimization by : Levent Tunçel

Download or read book Polyhedral and Semidefinite Programming Methods in Combinatorial Optimization written by Levent Tunçel and published by American Mathematical Soc.. This book was released on 2016-05-05 with total page 233 pages. Available in PDF, EPUB and Kindle. Book excerpt: Since the early 1960s, polyhedral methods have played a central role in both the theory and practice of combinatorial optimization. Since the early 1990s, a new technique, semidefinite programming, has been increasingly applied to some combinatorial optimization problems. The semidefinite programming problem is the problem of optimizing a linear function of matrix variables, subject to finitely many linear inequalities and the positive semidefiniteness condition on some of the matrix variables. On certain problems, such as maximum cut, maximum satisfiability, maximum stable set and geometric representations of graphs, semidefinite programming techniques yield important new results. This monograph provides the necessary background to work with semidefinite optimization techniques, usually by drawing parallels to the development of polyhedral techniques and with a special focus on combinatorial optimization, graph theory and lift-and-project methods. It allows the reader to rigorously develop the necessary knowledge, tools and skills to work in the area that is at the intersection of combinatorial optimization and semidefinite optimization. A solid background in mathematics at the undergraduate level and some exposure to linear optimization are required. Some familiarity with computational complexity theory and the analysis of algorithms would be helpful. Readers with these prerequisites will appreciate the important open problems and exciting new directions as well as new connections to other areas in mathematical sciences that the book provides.

Convex Optimization & Euclidean Distance Geometry

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Publisher : Meboo Publishing USA
ISBN 13 : 0976401304
Total Pages : 776 pages
Book Rating : 4.9/5 (764 download)

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Book Synopsis Convex Optimization & Euclidean Distance Geometry by : Jon Dattorro

Download or read book Convex Optimization & Euclidean Distance Geometry written by Jon Dattorro and published by Meboo Publishing USA. This book was released on 2005 with total page 776 pages. Available in PDF, EPUB and Kindle. Book excerpt: The study of Euclidean distance matrices (EDMs) fundamentally asks what can be known geometrically given onlydistance information between points in Euclidean space. Each point may represent simply locationor, abstractly, any entity expressible as a vector in finite-dimensional Euclidean space.The answer to the question posed is that very much can be known about the points;the mathematics of this combined study of geometry and optimization is rich and deep.Throughout we cite beacons of historical accomplishment.The application of EDMs has already proven invaluable in discerning biological molecular conformation.The emerging practice of localization in wireless sensor networks, the global positioning system (GPS), and distance-based pattern recognitionwill certainly simplify and benefit from this theory.We study the pervasive convex Euclidean bodies and their various representations.In particular, we make convex polyhedra, cones, and dual cones more visceral through illustration, andwe study the geometric relation of polyhedral cones to nonorthogonal bases biorthogonal expansion.We explain conversion between halfspace- and vertex-descriptions of convex cones,we provide formulae for determining dual cones,and we show how classic alternative systems of linear inequalities or linear matrix inequalities and optimality conditions can be explained by generalized inequalities in terms of convex cones and their duals.The conic analogue to linear independence, called conic independence, is introducedas a new tool in the study of classical cone theory; the logical next step in the progression:linear, affine, conic.Any convex optimization problem has geometric interpretation.This is a powerful attraction: the ability to visualize geometry of an optimization problem.We provide tools to make visualization easier.The concept of faces, extreme points, and extreme directions of convex Euclidean bodiesis explained here, crucial to understanding convex optimization.The convex cone of positive semidefinite matrices, in particular, is studied in depth.We mathematically interpret, for example,its inverse image under affine transformation, and we explainhow higher-rank subsets of its boundary united with its interior are convex.The Chapter on "Geometry of convex functions",observes analogies between convex sets and functions:The set of all vector-valued convex functions is a closed convex cone.Included among the examples in this chapter, we show how the real affinefunction relates to convex functions as the hyperplane relates to convex sets.Here, also, pertinent results formultidimensional convex functions are presented that are largely ignored in the literature;tricks and tips for determining their convexityand discerning their geometry, particularly with regard to matrix calculus which remains largely unsystematizedwhen compared with the traditional practice of ordinary calculus.Consequently, we collect some results of matrix differentiation in the appendices.The Euclidean distance matrix (EDM) is studied,its properties and relationship to both positive semidefinite and Gram matrices.We relate the EDM to the four classical axioms of the Euclidean metric;thereby, observing the existence of an infinity of axioms of the Euclidean metric beyondthe triangle inequality. We proceed byderiving the fifth Euclidean axiom and then explain why furthering this endeavoris inefficient because the ensuing criteria (while describing polyhedra)grow linearly in complexity and number.Some geometrical problems solvable via EDMs,EDM problems posed as convex optimization, and methods of solution arepresented;\eg, we generate a recognizable isotonic map of the United States usingonly comparative distance information (no distance information, only distance inequalities).We offer a new proof of the classic Schoenberg criterion, that determines whether a candidate matrix is an EDM. Our proofrelies on fundamental geometry; assuming, any EDM must correspond to a list of points contained in some polyhedron(possibly at its vertices) and vice versa.It is not widely known that the Schoenberg criterion implies nonnegativity of the EDM entries; proved here.We characterize the eigenvalues of an EDM matrix and then devisea polyhedral cone required for determining membership of a candidate matrix(in Cayley-Menger form) to the convex cone of Euclidean distance matrices (EDM cone); \ie,a candidate is an EDM if and only if its eigenspectrum belongs to a spectral cone for EDM^N.We will see spectral cones are not unique.In the chapter "EDM cone", we explain the geometric relationship betweenthe EDM cone, two positive semidefinite cones, and the elliptope.We illustrate geometric requirements, in particular, for projection of a candidate matrixon a positive semidefinite cone that establish its membership to the EDM cone. The faces of the EDM cone are described,but still open is the question whether all its faces are exposed as they are for the positive semidefinite cone.The classic Schoenberg criterion, relating EDM and positive semidefinite cones, isrevealed to be a discretized membership relation (a generalized inequality, a new Farkas''''''''-like lemma)between the EDM cone and its ordinary dual. A matrix criterion for membership to the dual EDM cone is derived thatis simpler than the Schoenberg criterion.We derive a new concise expression for the EDM cone and its dual involvingtwo subspaces and a positive semidefinite cone."Semidefinite programming" is reviewedwith particular attention to optimality conditionsof prototypical primal and dual conic programs,their interplay, and the perturbation method of rank reduction of optimal solutions(extant but not well-known).We show how to solve a ubiquitous platonic combinatorial optimization problem from linear algebra(the optimal Boolean solution x to Ax=b)via semidefinite program relaxation.A three-dimensional polyhedral analogue for the positive semidefinite cone of 3X3 symmetricmatrices is introduced; a tool for visualizing in 6 dimensions.In "EDM proximity"we explore methods of solution to a few fundamental and prevalentEuclidean distance matrix proximity problems; the problem of finding that Euclidean distance matrix closestto a given matrix in the Euclidean sense.We pay particular attention to the problem when compounded with rank minimization.We offer a new geometrical proof of a famous result discovered by Eckart \& Young in 1936 regarding Euclideanprojection of a point on a subset of the positive semidefinite cone comprising all positive semidefinite matriceshaving rank not exceeding a prescribed limit rho.We explain how this problem is transformed to a convex optimization for any rank rho.

Convex Optimization Theory

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Publisher : Athena Scientific
ISBN 13 : 1886529310
Total Pages : 256 pages
Book Rating : 4.8/5 (865 download)

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Book Synopsis Convex Optimization Theory by : Dimitri Bertsekas

Download or read book Convex Optimization Theory written by Dimitri Bertsekas and published by Athena Scientific. This book was released on 2009-06-01 with total page 256 pages. Available in PDF, EPUB and Kindle. Book excerpt: An insightful, concise, and rigorous treatment of the basic theory of convex sets and functions in finite dimensions, and the analytical/geometrical foundations of convex optimization and duality theory. Convexity theory is first developed in a simple accessible manner, using easily visualized proofs. Then the focus shifts to a transparent geometrical line of analysis to develop the fundamental duality between descriptions of convex functions in terms of points, and in terms of hyperplanes. Finally, convexity theory and abstract duality are applied to problems of constrained optimization, Fenchel and conic duality, and game theory to develop the sharpest possible duality results within a highly visual geometric framework. This on-line version of the book, includes an extensive set of theoretical problems with detailed high-quality solutions, which significantly extend the range and value of the book. The book may be used as a text for a theoretical convex optimization course; the author has taught several variants of such a course at MIT and elsewhere over the last ten years. It may also be used as a supplementary source for nonlinear programming classes, and as a theoretical foundation for classes focused on convex optimization models (rather than theory). It is an excellent supplement to several of our books: Convex Optimization Algorithms (Athena Scientific, 2015), Nonlinear Programming (Athena Scientific, 2017), Network Optimization(Athena Scientific, 1998), Introduction to Linear Optimization (Athena Scientific, 1997), and Network Flows and Monotropic Optimization (Athena Scientific, 1998).

Handbook on Semidefinite, Conic and Polynomial Optimization

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Publisher : Springer Science & Business Media
ISBN 13 : 1461407699
Total Pages : 955 pages
Book Rating : 4.4/5 (614 download)

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Book Synopsis Handbook on Semidefinite, Conic and Polynomial Optimization by : Miguel F. Anjos

Download or read book Handbook on Semidefinite, Conic and Polynomial Optimization written by Miguel F. Anjos and published by Springer Science & Business Media. This book was released on 2011-11-19 with total page 955 pages. Available in PDF, EPUB and Kindle. Book excerpt: Semidefinite and conic optimization is a major and thriving research area within the optimization community. Although semidefinite optimization has been studied (under different names) since at least the 1940s, its importance grew immensely during the 1990s after polynomial-time interior-point methods for linear optimization were extended to solve semidefinite optimization problems. Since the beginning of the 21st century, not only has research into semidefinite and conic optimization continued unabated, but also a fruitful interaction has developed with algebraic geometry through the close connections between semidefinite matrices and polynomial optimization. This has brought about important new results and led to an even higher level of research activity. This Handbook on Semidefinite, Conic and Polynomial Optimization provides the reader with a snapshot of the state-of-the-art in the growing and mutually enriching areas of semidefinite optimization, conic optimization, and polynomial optimization. It contains a compendium of the recent research activity that has taken place in these thrilling areas, and will appeal to doctoral students, young graduates, and experienced researchers alike. The Handbook’s thirty-one chapters are organized into four parts: Theory, covering significant theoretical developments as well as the interactions between conic optimization and polynomial optimization; Algorithms, documenting the directions of current algorithmic development; Software, providing an overview of the state-of-the-art; Applications, dealing with the application areas where semidefinite and conic optimization has made a significant impact in recent years.

Convex Optimization

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Publisher : Cambridge University Press
ISBN 13 : 9780521833783
Total Pages : 744 pages
Book Rating : 4.8/5 (337 download)

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Book Synopsis Convex Optimization by : Stephen P. Boyd

Download or read book Convex Optimization written by Stephen P. Boyd and published by Cambridge University Press. This book was released on 2004-03-08 with total page 744 pages. Available in PDF, EPUB and Kindle. Book excerpt: Convex optimization problems arise frequently in many different fields. This book provides a comprehensive introduction to the subject, and shows in detail how such problems can be solved numerically with great efficiency. The book begins with the basic elements of convex sets and functions, and then describes various classes of convex optimization problems. Duality and approximation techniques are then covered, as are statistical estimation techniques. Various geometrical problems are then presented, and there is detailed discussion of unconstrained and constrained minimization problems, and interior-point methods. The focus of the book is on recognizing convex optimization problems and then finding the most appropriate technique for solving them. It contains many worked examples and homework exercises and will appeal to students, researchers and practitioners in fields such as engineering, computer science, mathematics, statistics, finance and economics.

Geometric Programming for Communication Systems

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Publisher : Now Publishers Inc
ISBN 13 : 9781933019093
Total Pages : 172 pages
Book Rating : 4.0/5 (19 download)

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Book Synopsis Geometric Programming for Communication Systems by : Mung Chiang

Download or read book Geometric Programming for Communication Systems written by Mung Chiang and published by Now Publishers Inc. This book was released on 2005 with total page 172 pages. Available in PDF, EPUB and Kindle. Book excerpt: Recently Geometric Programming has been applied to study a variety of problems in the analysis and design of communication systems from information theory and queuing theory to signal processing and network protocols. Geometric Programming for Communication Systems begins its comprehensive treatment of the subject by providing an in-depth tutorial on the theory, algorithms, and modeling methods of Geometric Programming. It then gives a systematic survey of the applications of Geometric Programming to the study of communication systems. It collects in one place various published results in this area, which are currently scattered in several books and many research papers, as well as to date unpublished results. Geometric Programming for Communication Systems is intended for researchers and students who wish to have a comprehensive starting point for understanding the theory and applications of geometric programming in communication systems.

Convex Optimization Algorithms

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Publisher : Athena Scientific
ISBN 13 : 1886529280
Total Pages : 576 pages
Book Rating : 4.8/5 (865 download)

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Book Synopsis Convex Optimization Algorithms by : Dimitri Bertsekas

Download or read book Convex Optimization Algorithms written by Dimitri Bertsekas and published by Athena Scientific. This book was released on 2015-02-01 with total page 576 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book provides a comprehensive and accessible presentation of algorithms for solving convex optimization problems. It relies on rigorous mathematical analysis, but also aims at an intuitive exposition that makes use of visualization where possible. This is facilitated by the extensive use of analytical and algorithmic concepts of duality, which by nature lend themselves to geometrical interpretation. The book places particular emphasis on modern developments, and their widespread applications in fields such as large-scale resource allocation problems, signal processing, and machine learning. The book is aimed at students, researchers, and practitioners, roughly at the first year graduate level. It is similar in style to the author's 2009"Convex Optimization Theory" book, but can be read independently. The latter book focuses on convexity theory and optimization duality, while the present book focuses on algorithmic issues. The two books share notation, and together cover the entire finite-dimensional convex optimization methodology. To facilitate readability, the statements of definitions and results of the "theory book" are reproduced without proofs in Appendix B.

Semidefinite Optimization and Convex Algebraic Geometry

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Publisher : SIAM
ISBN 13 : 1611972280
Total Pages : 487 pages
Book Rating : 4.6/5 (119 download)

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Book Synopsis Semidefinite Optimization and Convex Algebraic Geometry by : Grigoriy Blekherman

Download or read book Semidefinite Optimization and Convex Algebraic Geometry written by Grigoriy Blekherman and published by SIAM. This book was released on 2013-03-21 with total page 487 pages. Available in PDF, EPUB and Kindle. Book excerpt: An accessible introduction to convex algebraic geometry and semidefinite optimization. For graduate students and researchers in mathematics and computer science.

First-Order Methods in Optimization

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Publisher : SIAM
ISBN 13 : 1611974984
Total Pages : 476 pages
Book Rating : 4.6/5 (119 download)

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Book Synopsis First-Order Methods in Optimization by : Amir Beck

Download or read book First-Order Methods in Optimization written by Amir Beck and published by SIAM. This book was released on 2017-10-02 with total page 476 pages. Available in PDF, EPUB and Kindle. Book excerpt: The primary goal of this book is to provide a self-contained, comprehensive study of the main ?rst-order methods that are frequently used in solving large-scale problems. First-order methods exploit information on values and gradients/subgradients (but not Hessians) of the functions composing the model under consideration. With the increase in the number of applications that can be modeled as large or even huge-scale optimization problems, there has been a revived interest in using simple methods that require low iteration cost as well as low memory storage. The author has gathered, reorganized, and synthesized (in a unified manner) many results that are currently scattered throughout the literature, many of which cannot be typically found in optimization books. First-Order Methods in Optimization offers comprehensive study of first-order methods with the theoretical foundations; provides plentiful examples and illustrations; emphasizes rates of convergence and complexity analysis of the main first-order methods used to solve large-scale problems; and covers both variables and functional decomposition methods.

Interior Point Techniques in Optimization

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Publisher : Springer Science & Business Media
ISBN 13 : 1475755619
Total Pages : 285 pages
Book Rating : 4.4/5 (757 download)

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Book Synopsis Interior Point Techniques in Optimization by : B. Jansen

Download or read book Interior Point Techniques in Optimization written by B. Jansen and published by Springer Science & Business Media. This book was released on 2013-03-14 with total page 285 pages. Available in PDF, EPUB and Kindle. Book excerpt: Operations research and mathematical programming would not be as advanced today without the many advances in interior point methods during the last decade. These methods can now solve very efficiently and robustly large scale linear, nonlinear and combinatorial optimization problems that arise in various practical applications. The main ideas underlying interior point methods have influenced virtually all areas of mathematical programming including: analyzing and solving linear and nonlinear programming problems, sensitivity analysis, complexity analysis, the analysis of Newton's method, decomposition methods, polynomial approximation for combinatorial problems etc. This book covers the implications of interior techniques for the entire field of mathematical programming, bringing together many results in a uniform and coherent way. For the topics mentioned above the book provides theoretical as well as computational results, explains the intuition behind the main ideas, gives examples as well as proofs, and contains an extensive up-to-date bibliography. Audience: The book is intended for students, researchers and practitioners with a background in operations research, mathematics, mathematical programming, or statistics.

Proximal Algorithms

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Publisher : Now Pub
ISBN 13 : 9781601987167
Total Pages : 130 pages
Book Rating : 4.9/5 (871 download)

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Book Synopsis Proximal Algorithms by : Neal Parikh

Download or read book Proximal Algorithms written by Neal Parikh and published by Now Pub. This book was released on 2013-11 with total page 130 pages. Available in PDF, EPUB and Kindle. Book excerpt: Proximal Algorithms discusses proximal operators and proximal algorithms, and illustrates their applicability to standard and distributed convex optimization in general and many applications of recent interest in particular. Much like Newton's method is a standard tool for solving unconstrained smooth optimization problems of modest size, proximal algorithms can be viewed as an analogous tool for nonsmooth, constrained, large-scale, or distributed versions of these problems. They are very generally applicable, but are especially well-suited to problems of substantial recent interest involving large or high-dimensional datasets. Proximal methods sit at a higher level of abstraction than classical algorithms like Newton's method: the base operation is evaluating the proximal operator of a function, which itself involves solving a small convex optimization problem. These subproblems, which generalize the problem of projecting a point onto a convex set, often admit closed-form solutions or can be solved very quickly with standard or simple specialized methods. Proximal Algorithms discusses different interpretations of proximal operators and algorithms, looks at their connections to many other topics in optimization and applied mathematics, surveys some popular algorithms, and provides a large number of examples of proximal operators that commonly arise in practice.

Analysis on Symmetric Cones

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Publisher : Oxford University Press on Demand
ISBN 13 : 9780198534778
Total Pages : 382 pages
Book Rating : 4.5/5 (347 download)

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Book Synopsis Analysis on Symmetric Cones by : Jacques Faraut

Download or read book Analysis on Symmetric Cones written by Jacques Faraut and published by Oxford University Press on Demand. This book was released on 1994 with total page 382 pages. Available in PDF, EPUB and Kindle. Book excerpt: The present book is the first to treat analysis on symmetric cones in a systematic way. It starts by describing, with the simplest available proofs, the Jordan algebra approach to the geometric and algebraic foundations of the theory due to M. Koecher and his school. In subsequent parts itdiscusses harmonic analysis and special functions associated to symmetric cones; it also tries these results together with the study of holomorphic functions on bounded symmetric domains of tube type. It contains a number of new results and new proofs of old results.