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426 CHAPTER 5. EUCLIDEAN DISTANCE MATRIXˇx 7x 1ˇx 2ˇx 3ˇx 4ˇx 6ˇx 5Figure 125: Regions of coverage by base stations ◦ in a cellular telephonenetwork. The term cellular arises from packing of regions best coveredby neighboring base stations. Illustrated is a pentagonal cell best coveredby base station ˇx 2 . Like a Voronoi diagram, cell geometry depends onbase-station arrangement. In some US urban environments, it is not unusualto find base stations spaced approximately 1 mile apart. There can be asmany as 20 base-station antennae capable of receiving signal from any givencell phone • ; practically, that number is closer to 6.Figure 126: Some fitted contours of equal signal power in R 2 transmittedfrom a commercial cellular telephone • over about 1 mile suburban terrainoutside San Francisco in 2005. Data courtesy Polaris Wireless. [322]
5.4. EDM DEFINITION 427by translated ellipsoids of graduated orientation and eccentricity as inFigure 126.Depicted in Figure 125 is one cell phone x 1 whose signal power isautomatically and repeatedly measured by 6 base stations ◦ nearby. 5.20Those signal power measurements are transmitted from that cell phone tobase station ˇx 2 who decides whether to transfer (hand-off or hand-over)responsibility for that call should the user roam outside its cell. 5.21Due to noise, at least one distance measurement more than the minimumnumber of measurements is required for reliable localization in practice;3 measurements are minimum in two dimensions, 4 in three. 5.22 Existenceof noise precludes measured distance from the input data. We instead assignmeasured distance to a range estimate specified by individual upper andlower bounds: d i1 is the upper bound on distance-square from the cell phoneto i th base station, while d i1 is the lower bound. These bounds become theinput data. Each measurement range is presumed different from the others.Then convex problem (936) takes the form:minimize trGG∈S 7 , X∈R2×7 subject to d i1 ≤ tr(GΦ i1 ) ≤ d i1 , i = 2... 7tr ( )Ge i e T i = ‖ˇx i ‖ 2 , i = 2... 7tr(G(e i e T j + e j e T i )/2) = ˇx T i ˇx j , 2 ≤ i < j = 3... 7whereX(:, 2:7) = [ ˇx 2 ˇx 3 ˇx 4 ˇx 5 ˇx 6 ˇx 7 ][ ] I XX T≽ 0 (946)GΦ ij = (e i − e j )(e i − e j ) T ∈ S N + (889)This semidefinite program realizes the wireless location problem illustrated inFigure 125. Location X ⋆ (:, 1) is taken as solution, although measurement5.20 Cell phone signal power is typically encoded logarithmically with 1-decibel incrementand 64-decibel dynamic range.5.21 Because distance to base station is quite difficult to infer from signal powermeasurements in an urban environment, localization of a particular cell phone • bydistance geometry would be far easier were the whole cellular system instead conceived socell phone x 1 also transmits (to base station ˇx 2 ) its signal power as received by all othercell phones within range.5.22 In Example 4.4.1.2.4, we explore how this convex optimization algorithm fares in theface of measurement noise.
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DATTORROCONVEXOPTIMIZATION&EUCLIDEA
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Convex Optimization&Euclidean Dista
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for Jennie Columba♦Antonio♦♦&
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PreludeThe constant demands of my d
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Convex Optimization&Euclidean Dista
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CONVEX OPTIMIZATION & EUCLIDEAN DIS
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List of Figures1 Overview 211 Orion
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LIST OF FIGURES 1562 Shrouded polyh
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LIST OF FIGURES 17130 Elliptope E 3
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Chapter 1OverviewConvex Optimizatio
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ˇx 4ˇx 3ˇx 2Figure 2: Applicatio
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25Figure 4: This coarsely discretiz
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(biorthogonal expansion) is examine
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29cardinality Boolean solution to a
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31Figure 8: Robotic vehicles in con
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an elaborate exposition offering in
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Chapter 2Convex geometryConvexity h
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2.1. CONVEX SET 372.1.2 linear inde
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2.1. CONVEX SET 392.1.6 empty set v
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2.1. CONVEX SET 41(a)R(b)R 2(c)R 3F
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2.1. CONVEX SET 43where Q∈ R 3×3
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2.1. CONVEX SET 45Now let’s move
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2.1. CONVEX SET 47By additive inver
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2.1. CONVEX SET 49R nR mR(A T )x px
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2.2. VECTORIZED-MATRIX INNER PRODUC
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2.3. HULLS 61Figure 20: Convex hull
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2.3. HULLS 63Aaffine hull (drawn tr
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2.3. HULLS 65subset of the affine h
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2.3. HULLS 672.3.2.0.2 Example. Nuc
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2.3. HULLS 692.3.2.0.3 Exercise. Co
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2.3. HULLS 71Figure 24: A simplicia
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2.4. HALFSPACE, HYPERPLANE 73H + =
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2.4. HALFSPACE, HYPERPLANE 7511−1
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2.4. HALFSPACE, HYPERPLANE 772.4.2.
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2.4. HALFSPACE, HYPERPLANE 81tradit
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2.5. SUBSPACE REPRESENTATIONS 852.5
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2.5. SUBSPACE REPRESENTATIONS 87(Ex
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2.5. SUBSPACE REPRESENTATIONS 89(a)
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2.5. SUBSPACE REPRESENTATIONS 91are
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2.6. EXTREME, EXPOSED 93A one-dimen
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2.6. EXTREME, EXPOSED 952.6.1.1 Den
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2.7. CONES 97X(a)00(b)XFigure 33: (
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2.7. CONES 99XXFigure 37: Truncated
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2.7. CONES 101Figure 39: Not a cone
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2.7. CONES 103cone that is a halfli
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2.7. CONES 105A pointed closed conv
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2.8. CONE BOUNDARY 107That means th
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2.8. CONE BOUNDARY 1092.8.1.1 extre
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2.8. CONE BOUNDARY 1112.8.2 Exposed
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2.9. POSITIVE SEMIDEFINITE (PSD) CO
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2.10. CONIC INDEPENDENCE (C.I.) 141
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2.12. CONVEX POLYHEDRA 147all dimen
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2.12. CONVEX POLYHEDRA 149convex po
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2.12. CONVEX POLYHEDRA 1512.12.2.2
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2.13. DUAL CONE & GENERALIZED INEQU
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Chapter 3Geometry of convex functio
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3.1. CONVEX FUNCTION 221f 1 (x)f 2
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3.1. CONVEX FUNCTION 223Rf(b)f(X
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3.2. PRACTICAL NORM FUNCTIONS, ABSO
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3.3. INVERTED FUNCTIONS AND ROOTS 2
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3.4. AFFINE FUNCTION 237rather]x >
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3.4. AFFINE FUNCTION 239f(z)Az 2z 1
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3.5. EPIGRAPH, SUBLEVEL SET 241{a T
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3.5. EPIGRAPH, SUBLEVEL SET 243Subl
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3.5. EPIGRAPH, SUBLEVEL SET 245wher
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3.5. EPIGRAPH, SUBLEVEL SET 247part
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3.5. EPIGRAPH, SUBLEVEL SET 249that
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3.6. GRADIENT 251respect to its vec
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3.6. GRADIENT 253Invertibility is g
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3.6. GRADIENT 2553.6.1.0.2 Theorem.
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3.6. GRADIENT 257f(Y )[ ∇f(X)−1
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3.6. GRADIENT 259αβα ≥ β ≥
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3.6. GRADIENT 2613.6.4 second-order
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3.7. CONVEX MATRIX-VALUED FUNCTION
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3.8. QUASICONVEX 269exponential alw
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3.9. SALIENT PROPERTIES 2713.8.0.0.
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Chapter 4Semidefinite programmingPr
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4.1. CONIC PROBLEM 275(confer p.162
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4.1. CONIC PROBLEM 277PCsemidefinit
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4.1. CONIC PROBLEM 279is the affine
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4.1. CONIC PROBLEM 281faces of S 3
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4.1. CONIC PROBLEM 2834.1.2.3 Previ
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4.2. FRAMEWORK 285Semidefinite Fark
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4.2. FRAMEWORK 287On the other hand
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4.2. FRAMEWORK 2894.2.2.1 Dual prob
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4.2. FRAMEWORK 291For symmetric pos
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4.2. FRAMEWORK 293has norm ‖x ⋆
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4.2. FRAMEWORK 295minimize 1 TˆxX
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4.2. FRAMEWORK 297asminimize ‖ỹ
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4.3. RANK REDUCTION 2994.3 Rank red
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4.3. RANK REDUCTION 301A rank-reduc
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4.3. RANK REDUCTION 303(t ⋆ i)
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4.3. RANK REDUCTION 3054.3.3.0.1 Ex
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4.3. RANK REDUCTION 3074.3.3.0.2 Ex
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4.4. RANK-CONSTRAINED SEMIDEFINITE
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4.5. CONSTRAINING CARDINALITY 333mi
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4.5. CONSTRAINING CARDINALITY 3350R
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4.5. CONSTRAINING CARDINALITY 337it
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4.5. CONSTRAINING CARDINALITY 339m/
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4.5. CONSTRAINING CARDINALITY 341we
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4.5. CONSTRAINING CARDINALITY 343fl
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4.5. CONSTRAINING CARDINALITY 345We
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4.5. CONSTRAINING CARDINALITY 3474.
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4.5. CONSTRAINING CARDINALITY 349R
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4.5. CONSTRAINING CARDINALITY 351pe
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4.6. CARDINALITY AND RANK CONSTRAIN
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Page 375 and 376: 4.6. CARDINALITY AND RANK CONSTRAIN
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Page 395 and 396: Chapter 5Euclidean Distance MatrixT
Page 397 and 398: 5.2. FIRST METRIC PROPERTIES 397to
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Page 403 and 404: 5.4. EDM DEFINITION 403The collecti
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Page 407 and 408: 5.4. EDM DEFINITION 407We provide a
Page 409 and 410: 5.4. EDM DEFINITION 4095.4.2.3.1 Ex
Page 411 and 412: 5.4. EDM DEFINITION 411is the fact:
Page 413 and 414: 5.4. EDM DEFINITION 413Figure 120:
Page 415 and 416: 5.4. EDM DEFINITION 415is found fro
Page 417 and 418: 5.4. EDM DEFINITION 417one less dim
Page 419 and 420: 5.4. EDM DEFINITION 419equality con
Page 421 and 422: 5.4. EDM DEFINITION 421How much dis
Page 423 and 424: 5.4. EDM DEFINITION 423105ˇx 4ˇx
Page 425: 5.4. EDM DEFINITION 425now implicit
Page 429 and 430: 5.4. EDM DEFINITION 429Crippen & Ha
Page 431 and 432: 5.4. EDM DEFINITION 431where ([√t
Page 433 and 434: 5.4. EDM DEFINITION 433because (A.3
Page 435 and 436: 5.5. INVARIANCE 4355.5.1.0.1 Exampl
Page 437 and 438: 5.5. INVARIANCE 437x 2 x 2x 3 x 1 x
Page 439 and 440: 5.6. INJECTIVITY OF D & UNIQUE RECO
Page 445 and 446: 5.7. EMBEDDING IN AFFINE HULL 4455.
Page 447 and 448: 5.7. EMBEDDING IN AFFINE HULL 447Fo
Page 449 and 450: 5.7. EMBEDDING IN AFFINE HULL 4495.
Page 451 and 452: 5.8. EUCLIDEAN METRIC VERSUS MATRIX
Page 459 and 460: 5.9. BRIDGE: CONVEX POLYHEDRA TO ED
Page 465 and 466: 5.10. EDM-ENTRY COMPOSITION 465of a
Page 467 and 468: 5.10. EDM-ENTRY COMPOSITION 467Then
Page 469 and 470: 5.11. EDM INDEFINITENESS 4695.11.1
Page 471 and 472: 5.11. EDM INDEFINITENESS 471we have
Page 473 and 474: 5.11. EDM INDEFINITENESS 473So beca
Page 475 and 476: 5.11. EDM INDEFINITENESS 475holds o
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5.12. LIST RECONSTRUCTION 477where
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5.12. LIST RECONSTRUCTION 479(a)(c)
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5.13. RECONSTRUCTION EXAMPLES 481Wi
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5.13. RECONSTRUCTION EXAMPLES 483d
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5.13. RECONSTRUCTION EXAMPLES 485Th
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5.14. FIFTH PROPERTY OF EUCLIDEAN M
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Chapter 6Cone of distance matricesF
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6.1. DEFINING EDM CONE 4996.1 Defin
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6.2. POLYHEDRAL BOUNDS 501This cone
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6.4. EDM DEFINITION IN 11 T 503That
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6.4. EDM DEFINITION IN 11 T 505N(1
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6.4. EDM DEFINITION IN 11 T 507Then
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6.4. EDM DEFINITION IN 11 T 5096.4.
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6.5. CORRESPONDENCE TO PSD CONE S N
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6.6. VECTORIZATION & PROJECTION INT
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6.7. A GEOMETRY OF COMPLETION 523(b
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6.7. A GEOMETRY OF COMPLETION 525[3
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6.7. A GEOMETRY OF COMPLETION 527wh
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6.8. DUAL EDM CONE 529to the geomet
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6.8. DUAL EDM CONE 531Proof. First,
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6.8. DUAL EDM CONE 533EDM 2 = S 2 h
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6.8. DUAL EDM CONE 535therefore the
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6.8. DUAL EDM CONE 537Elegance of t
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6.8. DUAL EDM CONE 5396.8.1.5 Affin
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6.8. DUAL EDM CONE 5416.8.1.7 Schoe
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6.8. DUAL EDM CONE 5430dvec rel ∂
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6.10. POSTSCRIPT 5456.10 Postscript
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Chapter 7Proximity problemsIn the
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549project on the subspace, then pr
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551HS N h0EDM NK = S N h ∩ R N×N
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5537.0.3 Problem approachProblems t
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7.1. FIRST PREVALENT PROBLEM: 555fi
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7.1. FIRST PREVALENT PROBLEM: 5577.
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7.1. FIRST PREVALENT PROBLEM: 559di
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7.1. FIRST PREVALENT PROBLEM: 5617.
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7.1. FIRST PREVALENT PROBLEM: 563wh
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7.1. FIRST PREVALENT PROBLEM: 565Th
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7.2. SECOND PREVALENT PROBLEM: 567O
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7.2. SECOND PREVALENT PROBLEM: 569S
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7.2. SECOND PREVALENT PROBLEM: 571r
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7.2. SECOND PREVALENT PROBLEM: 573w
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7.2. SECOND PREVALENT PROBLEM: 5757
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7.2. SECOND PREVALENT PROBLEM: 577a
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7.3. THIRD PREVALENT PROBLEM: 579is
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7.3. THIRD PREVALENT PROBLEM: 581We
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7.3. THIRD PREVALENT PROBLEM: 583su
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7.3. THIRD PREVALENT PROBLEM: 585Gi
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7.3. THIRD PREVALENT PROBLEM: 587Op
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7.4. CONCLUSION 589filtering, multi
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Appendix ALinear algebraA.1 Main-di
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A.1. MAIN-DIAGONAL δ OPERATOR, λ
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A.1. MAIN-DIAGONAL δ OPERATOR, λ
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A.2. SEMIDEFINITENESS: DOMAIN OF TE
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A.3. PROPER STATEMENTS 599(AB) T
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A.3. PROPER STATEMENTS 601A.3.1Semi
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A.3. PROPER STATEMENTS 603For A dia
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A.3. PROPER STATEMENTS 605Diagonali
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A.3. PROPER STATEMENTS 607For A,B
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A.3. PROPER STATEMENTS 609When B is
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A.4. SCHUR COMPLEMENT 611A.4 Schur
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A.4. SCHUR COMPLEMENT 613A.4.0.0.3
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A.4. SCHUR COMPLEMENT 615From Corol
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A.5. EIGENVALUE DECOMPOSITION 617wh
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A.5. EIGENVALUE DECOMPOSITION 619A.
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A.6. SINGULAR VALUE DECOMPOSITION,
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A.6. SINGULAR VALUE DECOMPOSITION,
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A.7. ZEROS 625A.6.5SVD of symmetric
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A.7. ZEROS 627(Transpose.)Likewise,
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A.7. ZEROS 629For X,A∈ S M +[34,2
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A.7. ZEROS 631A.7.5.0.1 Proposition
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Appendix BSimple matricesMathematic
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B.1. RANK-ONE MATRIX (DYAD) 635R(v)
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B.1. RANK-ONE MATRIX (DYAD) 637B.1.
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B.2. DOUBLET 639R([u v ])R(Π)= R([
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B.3. ELEMENTARY MATRIX 641has N −
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B.4. AUXILIARY V -MATRICES 643is an
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B.4. AUXILIARY V -MATRICES 64514. [
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B.5. ORTHOGONAL MATRIX 647Given X
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B.5. ORTHOGONAL MATRIX 649Figure 15
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B.5. ORTHOGONAL MATRIX 651which is
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Appendix CSome analytical optimal r
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C.2. TRACE, SINGULAR AND EIGEN VALU
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C.3. ORTHOGONAL PROCRUSTES PROBLEM
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C.4. TWO-SIDED ORTHOGONAL PROCRUSTE
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Appendix DMatrix calculusFrom too m
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D.1. DIRECTIONAL DERIVATIVE, TAYLOR
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D.2. TABLES OF GRADIENTS AND DERIVA
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Appendix EProjectionFor any A∈ R
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701U T = U † for orthonormal (inc
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E.1. IDEMPOTENT MATRICES 703where A
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E.1. IDEMPOTENT MATRICES 705order,
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E.1. IDEMPOTENT MATRICES 707are lin
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E.3. SYMMETRIC IDEMPOTENT MATRICES
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E.4. ALGEBRA OF PROJECTION ON AFFIN
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E.5. PROJECTION EXAMPLES 717a ∗ 2
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E.5. PROJECTION EXAMPLES 719where Y
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E.5. PROJECTION EXAMPLES 721(B.4.2)
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E.6. VECTORIZATION INTERPRETATION,
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E.7. PROJECTION ON MATRIX SUBSPACES
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E.7. PROJECTION ON MATRIX SUBSPACES
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E.8. RANGE/ROWSPACE INTERPRETATION
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E.9. PROJECTION ON CONVEX SET 735As
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E.9. PROJECTION ON CONVEX SET 737Wi
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E.9. PROJECTION ON CONVEX SET 739R(
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E.9. PROJECTION ON CONVEX SET 741E.
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E.9. PROJECTION ON CONVEX SET 743E.
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E.9. PROJECTION ON CONVEX SET 745Un
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E.9. PROJECTION ON CONVEX SET 747ac
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E.10. ALTERNATING PROJECTION 749bC
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E.10. ALTERNATING PROJECTION 7510
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E.10. ALTERNATING PROJECTION 753E.1
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E.10. ALTERNATING PROJECTION 755y 2
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E.10. ALTERNATING PROJECTION 757Def
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E.10. ALTERNATING PROJECTION 759Dis
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E.10. ALTERNATING PROJECTION 761mat
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E.10. ALTERNATING PROJECTION 763K
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Appendix FNotation and a few defini
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771A ij or A(i, j) , ij th entry of
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773⊞orthogonal vector sum of sets
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775x +vector x whose negative entri
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777X point list ((76) having cardin
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779SDPSVDSNRdBEDMS n 1S n hS n⊥hS
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781vectorentrycubixquartixfeasible
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783Oorder of magnitude information
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785cofmatrix of cofactors correspon
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Bibliography[1] Edwin A. Abbott. Fl
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BIBLIOGRAPHY 789[23] Dror Baron, Mi
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BIBLIOGRAPHY 791[49] Leonard M. Blu
Page 793 and 794:
BIBLIOGRAPHY 793[74] Yves Chabrilla
Page 795 and 796:
BIBLIOGRAPHY 795[102] Etienne de Kl
Page 797 and 798:
BIBLIOGRAPHY 797[129] Carl Eckart a
Page 799 and 800:
BIBLIOGRAPHY 799[154] James Gleik.
Page 801 and 802:
BIBLIOGRAPHY 801[182] Johan Håstad
Page 803 and 804:
BIBLIOGRAPHY 803[212] Viren Jain an
Page 805 and 806:
BIBLIOGRAPHY 805[237] Monique Laure
Page 807 and 808:
BIBLIOGRAPHY 807[265] Sunderarajan
Page 809 and 810:
BIBLIOGRAPHY 809Notes in Computer S
Page 811 and 812:
BIBLIOGRAPHY 811[319] Anthony Man-C
Page 813 and 814:
BIBLIOGRAPHY 813[346] Pham Dinh Tao
Page 815 and 816:
BIBLIOGRAPHY 815[375] Bernard Widro
Page 817 and 818:
Index∅, see empty set0-norm, 229,
Page 819 and 820:
INDEX 819bees, 30, 413Bellman, 276b
Page 821 and 822:
INDEX 821circular, 130construction,
Page 823 and 824:
INDEX 823measure, 295convex, 21, 36
Page 825 and 826:
INDEX 825duality, 160, 410gap, 161,
Page 827 and 828:
INDEX 827positive semidefinite, 284
Page 829 and 830:
INDEX 829point, 39, 62positive semi
Page 831 and 832:
INDEX 831isomorphic, 52, 56, 59, 77
Page 833 and 834:
INDEX 833nonsymmetric, 703range, 70
Page 835 and 836:
INDEX 835Muller, 624multidimensiona
Page 837 and 838:
INDEX 837projection on, 739, 745tra
Page 839 and 840:
INDEX 839pseudoinverse, 701trace, 5
Page 841 and 842:
INDEX 841coordinate system, 156line
Page 843 and 844:
INDEX 843nonconvex, 40, 97-101nulls
Page 845 and 846:
INDEX 845faces, 106intersection, 10
Page 847 and 848:
INDEX 847projection, 517symmetric,
Page 849 and 850:
849
Page 852:
Convex Optimization & Euclidean Dis
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