Characterizing the universal rigidity of generic frameworks

A framework is a graph and a map from its vertices to E^d (for some d). A framework is universally rigid if any framework in any dimension with the same graph and edge lengths is a Euclidean image of it. We show that a generic universally rigid framework has a positive semi-definite stress matrix of maximal rank. Connelly showed that the existence of such a positive semi-definite stress matrix is sufficient for universal rigidity, so this provides a characterization of universal rigidity for generic frameworks. We also extend our argument to give a new result on the genericity of strict complementarity in semidefinite programming.Comment: 18 pages, v2: updates throughout; v3: published versio

On the local stability of semidefinite relaxations

We consider a parametric family of quadratically constrained quadratic programs (QCQP) and their associated semidefinite programming (SDP) relaxations. Given a nominal value of the parameter at which the SDP relaxation is exact, we study conditions (and quantitative bounds) under which the relaxation will continue to be exact as the parameter moves in a neighborhood around the nominal value. Our framework captures a wide array of statistical estimation problems including tensor principal component analysis, rotation synchronization, orthogonal Procrustes, camera triangulation and resectioning, essential matrix estimation, system identification, and approximate GCD. Our results can also be used to analyze the stability of SOS relaxations of general polynomial optimization problems.Comment: 23 pages, 3 figure

Conic Optimization: Optimal Partition, Parametric, and Stability Analysis

A linear conic optimization problem consists of the minimization of a linear objective function over the intersection of an affine space and a closed convex cone. In recent years, linear conic optimization has received significant attention, partly due to the fact that we can take advantage of linear conic optimization to reformulate and approximate intractable optimization problems. Steady advances in computational optimization have enabled us to approximately solve a wide variety of linear conic optimization problems in polynomial time. Nevertheless, preprocessing methods, rounding procedures and sensitivity analysis tools are still the missing parts of conic optimization solvers. Given the output of a conic optimization solver, we need methodologies to generate approximate complementary solutions or to speed up the convergence to an exact optimal solution. A preprocessing method reduces the size of a problem by finding the minimal face of the cone which contains the set of feasible solutions. However, such a preprocessing method assumes the knowledge of an exact solution. More importantly, we need robust sensitivity and post-optimal analysis tools for an optimal solution of a linear conic optimization problem. Motivated by the vital importance of linear conic optimization, we take active steps to fill this gap.This thesis is concerned with several aspects of a linear conic optimization problem, from algorithm through solution identification, to parametric analysis, which have not been fully addressed in the literature. We specifically focus on three special classes of linear conic optimization problems, namely semidefinite and second-order conic optimization, and their common generalization, symmetric conic optimization. We propose a polynomial time algorithm for symmetric conic optimization problems. We show how to approximate/identify the optimal partition of semidefinite optimization and second-order conic optimization, a concept which has its origin in linear optimization. Further, we use the optimal partition information to either generate an approximate optimal solution or to speed up the convergence of a solution identification process to the unique optimal solution of the problem. Finally, we study the parametric analysis of semidefinite and second-order conic optimization problems. We investigate the behavior of the optimal partition and the optimal set mapping under perturbation of the objective function vector

Analysis of some interior point continuous trajectories for convex programming

In this paper, we analyse three interior point continuous trajectories for convex programming with general linear constraints. The three continuous trajectories are derived from the primal–dual path-following method, the primal–dual affine scaling method and the central path, respectively. Theoretical properties of the three interior point continuous trajectories are fully studied. The optimality and convergence of all three interior point continuous trajectories are obtained for any interior feasible point under some mild conditions. In particular, with proper choice of some parameters, the convergence for all three interior point continuous trajectories does not require the strict complementarity or the analyticity of the objective function. These results are new in the literature

Interior-point algorithms for convex optimization based on primal-dual metrics

We propose and analyse primal-dual interior-point algorithms for convex optimization problems in conic form. The families of algorithms we analyse are so-called short-step algorithms and they match the current best iteration complexity bounds for primal-dual symmetric interior-point algorithm of Nesterov and Todd, for symmetric cone programming problems with given self-scaled barriers. Our results apply to any self-concordant barrier for any convex cone. We also prove that certain specializations of our algorithms to hyperbolic cone programming problems (which lie strictly between symmetric cone programming and general convex optimization problems in terms of generality) can take advantage of the favourable special structure of hyperbolic barriers. We make new connections to Riemannian geometry, integrals over operator spaces, Gaussian quadrature, and strengthen the connection of our algorithms to quasi-Newton updates and hence first-order methods in general.Comment: 36 page