Algorithms and Convergence Results of Projection Methods for Inconsistent Feasibility Problems: A Review
Yair Censor, Maroun Zaknoon
备注：
We dedicate this paper to Adi Ben-Israel, our scientific father and grandfather, respectively. Pure and Applied Functional Analysis, accepted for publication. The paper includes an Author Index which has not been processed into this arXiv version
The convex feasibility problem (CFP) is to find a feasible point in the intersection of finitely many convex and closed sets. If the intersection is empty then the CFP is inconsistent and a feasible point does not exist. However, algorithmic research of inconsistent CFPs exists and is mainly focused on two directions. One is oriented toward defining other solution concepts that will apply, such as proximity function minimization wherein a proximity function measures in some way the total violation of all constraints. The second direction investigates the behavior of algorithms that are designed to solve a consistent CFP when applied to inconsistent problems. This direction is fueled by situations wherein one lacks a priori information about the consistency or inconsistency of the CFP or does not wish to invest computational resources to get hold of such knowledge prior to running his algorithm. In this paper we bring under one roof and telegraphically review some recent works on inconsistent CFPs.
We analyse the behaviour of the newly introduced cyclic Douglas-Rachford algorithm for finding a point in the intersection of a finite number of closed convex sets. This work considers the case in which the target intersection set is possibly empty.
In this work we consider an iterative method for solving the quasi-convex feasibility problem. We firstly introduce the so-called star subgradient projection operator and present some useful properties. We subsequently obtain a convergence result of the considered method by using properties of the introduced nonlinear operator.
We propose a generalization of the method of cyclic projections, which uses the lengths of projection steps carried out in the past to learn about the geometry of the problem and decides on this basis which projections to carry out in the future. We prove the convergence of this algorithm and illustrate its behavior in a first numerical study.
Bauschke and Moursi have recently obtained results that implicitly contain the fact that the composition of finitely many averaged mappings on a Hilbert space that have approximate fixed points also has approximate fixed points and thus is asymptotically regular. Using techniques of proof mining, we analyze their arguments to obtain effective uniform rates of asymptotic regularity.
Finding a point in the intersection of a collection of closed convex sets, that is the convex feasibility problem, represents the main modeling strategy for many computational problems. In this paper we analyze new stochastic reformulations of the convex feasibility problem in order to facilitate the development of new algorithmic schemes. We also analyze the conditioning problem parameters using certain (linear) regularity assumptions on the individual convex sets. Then, we introduce a general random projection algorithmic framework, which extends to the random settings many existing projecti…
In this work we study the method of Bregman projections for deterministic and stochastic convex feasibility problems with three types of control sequences for the selection of sets during the algorithmic procedure: greedy, random, and adaptive random. We analyze in depth the case of affine feasibility problems showing that the iterates generated by the proposed methods converge Q-linearly and providing also explicit global and local rates of convergence. This work generalizes from one hand recent developments in randomized methods for the solution of linear systems based on orthogonal projecti…
The convex feasibility problem (CFP) is at the core of the modeling of many problems in various areas of science. Subgradient projection methods are important tools for solving the CFP because they enable the use of subgradient calculations instead of orthogonal projections onto the individual sets of the problem. Working in a real Hilbert space, we show that the sequential subgradient projection method is perturbation resilient. By this we mean that under appropriate conditions the sequence generated by the method converges weakly, and sometimes also strongly, to a point in the intersection o…
We consider the superiorization methodology, which can be thought of as lying between feasibility-seeking and constrained minimization. It is not quite trying to solve the full fledged constrained minimization problem; rather, the task is to find a feasible point which is superior (with respect to the objective function value) to one returned by a feasibility-seeking only algorithm. Our main result reveals new information about the mathematical behavior of the superiorization methodology. We deal with a constrained minimization problem with a feasible region, which is the intersection of finit…
Motivated by nonconvex, inconsistent feasibility problems in imaging, the relaxed alternating averaged reflections algorithm, or relaxed Douglas-Rachford algorithm (DR$λ$), was first proposed over a decade ago. Convergence results for this algorithm are limited either to convex feasibility or consistent nonconvex feasibility with strong assumptions on the regularity of the underlying sets. Using an analytical framework depending only on metric subregularity and pointwise almost averagedness, we analyze the convergence behavior of DR$λ$ for feasibility problems that are both nonconvex and incon…
Let $A$ be a real $M \times N$ measurement matrix and $b\in \mathbb{R}^M$ be an observations vector. The affine feasibility problem with sparsity and nonnegativity ($AFP_{SN}$ for short) is to find a sparse and nonnegative vector $x\in \mathbb{R}^N$ with $Ax=b$ if such $x$ exists. In this paper, we focus on establishment of optimization approach to solving the $AFP_{SN}$. By discussing tangent cone and normal cone of sparse constraint, we give the first necessary optimality conditions, $α$-Stability, T-Stability and N-Stability, and the second necessary and sufficient optimality conditions for…
The circumcentered-reflection method (CRM) has been applied for solving convex feasibility problems. CRM iterates by computing a circumcenter upon a composition of reflections with respect to convex sets. Since reflections are based on exact projections, their computation might be costly. In this regard, we introduce the circumcentered approximate-reflection method (CARM), whose reflections rely on outer-approximate projections. The appeal of CARM is that, in rather general situations, the approximate projections we employ are available under low computational cost. We derive convergence of CA…
In this paper we present a new algorithmic realization of a projection-based scheme for general convex constrained optimization problem. The general idea is to transform the original optimization problem to a sequence of feasibility problems by iteratively constraining the objective function from above until the feasibility problem is inconsistent. For each of the feasibility problems one may apply any of the existing projection methods for solving it. In particular, the scheme allows the use of subgradient projections and does not require exact projections onto the constraints sets as in exis…
We revisit the feasibility approach to the construction of compactly supported smooth orthogonal wavelets on the line. We highlight its flexibility and illustrate how symmetry and cardinality properties are easily embedded in the design criteria. We solve the resulting wavelet feasibility problems using recently introduced centering methods, and we compare performance. Solutions admit real-valued compactly supported smooth orthogonal scaling functions and wavelets with near symmetry and near cardinality properties.
We point out that Chubanov's oracle-based algorithm for linear programming [5] can be applied almost as it is to linear semi-infinite programming (LSIP). In this note, we describe the details and prove the polynomial complexity of the algorithm based on the real computation model proposed by Blum, Shub and Smale (the BSS model) which is more suitable for floating point computation in modern computers. The adoption of the BBS model makes our description and analysis much simpler than the original one by Chubanov [5]. Then we reformulate semidefinite programming (SDP) and second-order cone progr…
We give a link to a page on the Web on which we deposited a set of eight huge Linear Programming (LP) problems for Intensity-Modulated Proton Therapy (IMPT) treatment planning. These huge LP problems were employed in our recent research and we were asked to make them public.
The classical convex feasibility problem in a finite dimensional Euclidean space is studied in the present paper. We are interested in two cases. First, we assume to know how to compute an exact project onto one of the sets involved and the other set is compact such that the conditional gradient (CondG) method can be used for computing efficiently an inexact projection on it. Second, we assume that both sets involved are compact such that the CondG method can be used for computing efficiently inexact projections on them. We combine alternating projection method with CondG method to design a ne…
In this paper, we study the generalized Douglas-Rachford algorithm and its cyclic variants which include many projection-type methods such as the classical Douglas-Rachford algorithm and the alternating projection algorithm. Specifically, we establish several local linear convergence results for the algorithm in solving feasibility problems with finitely many closed possibly nonconvex sets under different assumptions. Our findings not only relax some regularity conditions but also improve linear convergence rates in the literature. In the presence of convexity, the linear convergence is global…
Projection methods are popular algorithms for iteratively solving feasibility problems in Euclidean or even Hilbert spaces. They employ (selections of) nearest point mappings to generate sequences that are designed to approximate a point in the intersection of a collection of constraint sets. Theoretical properties of projection methods are fairly well understood when the underlying constraint sets are convex; however, convergence results for the nonconvex case are more complicated and typically only local. In this paper, we explore the perhaps simplest instance of a feasibility algorithm, nam…
We study variational inequalities which are governed by a strongly monotone and Lipschitz continuous operator $F$ over a closed and convex set $S$. We assume that $S=C\cap A^{-1}(Q)$ is the nonempty solution set of a (multiple-set) split convex feasibility problem, where $C$ and $Q$ are both closed and convex subsets of two real Hilbert spaces $\mathcal H_1$ and $\mathcal H_2$, respectively, and the operator $A$ acting between them is linear. We consider a modification of the gradient projection method the main idea of which is to replace at each step the metric projection onto $S$ by another …
Constrained convex optimization problems arise naturally in many real-world applications. One strategy to solve them in an approximate way is to translate them into a sequence of convex feasibility problems via the recently developed level set scheme and then solve each feasibility problem using projection methods. However, if the problem is ill-conditioned, projection methods often show zigzagging behavior and therefore converge slowly. To address this issue, we exploit the bounded perturbation resilience of the projection methods and introduce two new perturbations which avoid zigzagging beh…
This paper proposes an algorithm for solving structured optimization problems, which covers both the backward-backward and the Douglas-Rachford algorithms as special cases, and analyzes its convergence. The set of fixed points of the algorithm is characterized in several cases. Convergence criteria of the algorithm in terms of general fixed point operators are established. When applying to nonconvex feasibility including the inconsistent case, we prove local linear convergence results under mild assumptions on regularity of individual sets and of the collection of sets which need not intersect…
Feasibility pump (FP) is a successful primal heuristic for mixed-integer linear programs (MILP). The algorithm consists of three main components: rounding fractional solution to a mixed-integer one, projection of infeasible solutions to the LP relaxation, and a randomization step used when the algorithm stalls. While many generalizations and improvements to the original Feasibility Pump have been proposed, they mainly focus on the rounding and projection steps. We start a more in-depth study of the randomization step in Feasibility Pump. For that, we propose a new randomization step based on t…
The randomized projection (RP) method is a simple iterative scheme for solving linear feasibility problems and has recently gained popularity due to its speed and low memory requirement. This paper develops an accelerated variant of the standard RP method by using two ingredients: the greedy probability criterion and the average block approach, and obtains a greedy randomized average block projection (GRABP) method for solving large-scale systems of linear inequalities. We prove that this method converges linearly in expectation under different choices of extrapolated stepsizes. Numerical expe…
The method of alternating projections is a classical tool to solve feasibility problems. Here we prove local convergence of alternating projections between subanalytic sets $A,B$ under a mild regularity hypothesis on one of the sets. We show that the speed of convergence is O$(k^{-ρ})$ for some $ρ\in (0,\infty)$.
We study the usage of regularity properties of collections of sets in convergence analysis of alternating projection methods for solving feasibility problems. Several equivalent characterizations of these properties are provided. Two settings of inexact alternating projections are considered and the corresponding convergence estimates are established and discussed.
Projection algorithms are well known for their simplicity and flexibility in solving feasibility problems. They are particularly important in practice due to minimal requirements for software implementation and maintenance. In this work, we study linear convergence of several projection algorithms for systems of finitely many closed sets. The results complement contemporary research on the same topic.
We synthesize and unify notions of regularity, both of individual sets and of collections of sets, as they appear in the convergence theory of projection methods for consistent feasibility problems. Several new characterizations of regularities are presented which shed light on the relations between seemingly different ideas and point to possible necessary conditions for local linear convergence of fundamental algorithms.
The ancient concept of circumcenter has recently given birth to the Circumcentered-Reflection method (CRM). CRM was first employed to solve best approximation problems involving affine subspaces. In this setting, it was shown to outperform the most prestigious projection based schemes, namely, the Douglas-Rachford method (DRM) and the method of alternating projections (MAP). We now prove convergence of CRM for finding a point in the intersection of a finite number of closed convex sets. This striking result is derived under a suitable product space reformulation in which a point in the interse…
We propose a simple projection and rescaling algorithm to solve the feasibility problem \[ \text{ find } x \in L \cap Ω, \] where $L$ and $Ω$ are respectively a linear subspace and the interior of a symmetric cone in a finite-dimensional vector space $V$. This projection and rescaling algorithm is inspired by previous work on rescaled versions of the perceptron algorithm and by Chubanov's projection-based method for linear feasibility problems. As in these predecessors, each main iteration of our algorithm contains two steps: a {\em basic procedure} and a {\em rescaling} step. When $L \cap Ω\n…
The Douglas--Rachford algorithm is a popular algorithm for solving both convex and nonconvex feasibility problems. While its behaviour is settled in the convex inconsistent case, the general nonconvex inconsistent case is far from being fully understood. In this paper, we focus on the most simple nonconvex inconsistent case: when one set is a hyperplane and the other a doubleton (i.e., a two-point set). We present a characterization of cycling in this case which --- somewhat surprisingly --- depends on whether the ratio of the distance of the points to the hyperplane is rational or not. Furthe…
The implicit convex feasibility problem attempts to find a point in the intersection of a finite family of convex sets, some of which are not explicitly determined but may vary. We develop simultaneous and sequential projection methods capable of handling such problems and demonstrate their applicability to image denoising in a specific medical imaging situation. By allowing the variable sets to undergo scaling, shifting and rotation, this work generalizes previous results wherein the implicit convex feasibility problem was used for cooperative wireless sensor network positioning where sets ar…
Many iterative methods for solving optimization or feasibility problems have been invented, and often convergence of the iterates to some solution is proven. Under favourable conditions, one might have additional bounds on the distance of the iterate to the solution leading thus to worst case estimates, i.e., how fast the algorithm must converge. Exact convergence estimates are typically hard to come by. In this paper, we consider the complementary problem of finding best case estimates, i.e., how slow the algorithm has to converge, and we also study exact asymptotic rates of convergence. Our …
We introduce a reformulation technique that converts a many-set feasibility problem into an equivalent two-set problem. This technique involves reformulating the original feasibility problem by replacing a pair of its constraint sets with their intersection, before applying Pierra's classical product space reformulation. The step of combining the two constraint sets reduces the dimension of the product spaces. We refer to this as the constraint reduction reformulation and use it to obtain constraint-reduced variants of well-known projection algorithms such as the Douglas--Rachford algorithm an…
The Douglas-Rachford method, a projection algorithm designed to solve continuous optimization problems, forms the basis of a useful heuristic for solving combinatorial optimization problems. In order to successfully use the method, it is necessary to formulate the problem at hand as a feasibility problem with constraint sets having efficiently computable nearest points. In this self-contained tutorial, we develop the convergence theory of projection algorithms within the framework of fixed point iterations, explain how to devise useful feasibility problem formulations, and demonstrate the appl…
In this paper, the distributed resource allocation optimization problem is investigated. The allocation decisions are made to minimize the sum of all the agents' local objective functions while satisfying both the global network resource constraint and the local allocation feasibility constraints. Here the data corresponding to each agent in this separable optimization problem, such as the network resources, the local allocation feasibility constraint, and the local objective function, is only accessible to individual agent and cannot be shared with others, which renders new challenges in this…
In this paper, we consider convex feasibility problems where the underlying sets are loosely coupled, and we propose several algorithms to solve such problems in a distributed manner. These algorithms are obtained by applying proximal splitting methods to convex minimization reformulations of convex feasibility problems. We also put forth distributed convergence tests which enable us to establish feasibility or infeasibility of the problem distributedly, and we provide convergence rate results. Under the assumption that the problem is feasible and boundedly linearly regular, these convergence …
The projected subgradient method for constrained minimization repeatedly interlaces subgradient steps for the objective function with projections onto the feasible region, which is the intersection of closed and convex constraints sets, to regain feasibility. The latter poses a computational difficulty and, therefore, the projected subgradient method is applicable only when the feasible region is "simple to project onto". In contrast to this, in the superiorization methodology a feasibility-seeking algorithm leads the overall process and objective function steps are interlaced into it. This ma…
