This book aims at gathering roboticists, control theorists, neuroscientists, and mathematicians, in order to promote a multidisciplinary research on movement analysis. It follows the workshop " Geometric and Numerical Foundations of Movements " held at LAAS-CNRS in Toulouse in November 2015[1]. Its objective is to lay the foundations for a mutual understanding that is essential for synergetic development in motion research. In particular, the book promotes applications to robotics --and control in general-- of new optimization techniques based on recent results from real algebraic geometry.

The Moment-SOS hierarchy is a powerful methodology that is used to solve the Generalized Moment Problem (GMP) where the list of applications in various areas of Science and Engineering is almost endless. Initially designed for solving polynomial optimization problems (the simplest example of the GMP), it applies to solving any instance of the GMP whose description only involves semi-algebraic functions and sets. It consists of solving a sequence (a hierarchy) of convex relaxations of the initial problem, and each convex relaxation is a semidefinite program whose size increases in the hierarchy.The goal of this book is to describe in a unified and detailed manner how this methodology applies to solving various problems in different areas ranging from Optimization, Probability, Statistics, Signal Processing, Computational Geometry, Control, Optimal Control and Analysis of a certain class of nonlinear PDEs. For each application, this unconventional methodology differs from traditional approaches and provides an unusual viewpoint. Each chapter is devoted to a particular application, where the methodology is thoroughly described and illustrated on some appropriate examples.The exposition is kept at an appropriate level of detail to aid the different levels of readers not necessarily familiar with these tools, to better know and understand this methodology.

This is the first comprehensive introduction to the powerful moment approach for solving global optimization problems (and some related problems) described by polynomials (and even semi-algebraic functions). In particular, the author explains how to use relatively recent results from real algebraic geometry to provide a systematic numerical scheme for computing the optimal value and global minimizers. Indeed, among other things, powerful positivity certificates from real algebraic geometry allow one to define an appropriate hierarchy of semidefinite (SOS) relaxations or LP relaxations whose optimal values converge to the global minimum. Several extensions to related optimization problems are also described. Graduate students, engineers and researchers entering the field can use this book to understand, experiment with and master this new approach through the simple worked examples provided.

Many important problems in global optimization, algebra, probability and statistics, applied mathematics, control theory, financial mathematics, inverse problems, etc. can be modeled as a particular instance of the Generalized Moment Problem (GMP). This book introduces, in a unified manual, a new general methodology to solve the GMP when its data are polynomials and basic semi-algebraic sets. This methodology combines semidefinite programming with recent results from real algebraic geometry to provide a hierarchy of semidefinite relaxations converging to the desired optimal value. Applied on appropriate cones, standard duality in convex optimization nicely expresses the duality between moments and positive polynomials. In the second part of this invaluable volume, the methodology is particularized and described in detail for various applications, including global optimization, probability, optimal context, mathematical finance, multivariate integration, etc., and examples are provided for each particular application.

Many important applications in global optimization, algebra, probability and statistics, applied mathematics, control theory, financial mathematics, inverse problems, etc. can be modeled as a particular instance of the Generalized Moment Problem (GMP).This book introduces a new general methodology to solve the GMP when its data are polynomials and basic semi-algebraic sets. This methodology combines semidefinite programming with recent results from real algebraic geometry to provide a hierarchy of semidefinite relaxations converging to the desired optimal value. Applied on appropriate cones, standard duality in convex optimization nicely expresses the duality between moments and positive polynomials.In the second part, the methodology is particularized and described in detail for various applications, including global optimization, probability, optimal control, mathematical finance, multivariate integration, etc., and examples are provided for each particular application.

The Christoffel-Darboux kernel, a central object in approximation theory, is shown to have many potential uses in modern data analysis, including applications in machine learning. This is the first book to offer a rapid introduction to the subject, illustrating the surprising effectiveness of a simple tool. Bridging the gap between classical mathematics and current evolving research, the authors present the topic in detail and follow a heuristic, example-based approach, assuming only a basic background in functional analysis, probability and some elementary notions of algebraic geometry. They cover new results in both pure and applied mathematics and introduce techniques that have a wide range of potential impacts on modern quantitative and qualitative science. Comprehensive notes provide historical background, discuss advanced concepts and give detailed bibliographical references. Researchers and graduate students in mathematics, statistics, engineering or economics will find new perspectives on traditional themes, along with challenging open problems.

This book aims at gathering roboticists, control theorists, neuroscientists, and mathematicians, in order to promote a multidisciplinary research on movement analysis. It follows the workshop " Geometric and Numerical Foundations of Movements " held at LAAS-CNRS in Toulouse in November 2015[1]. Its objective is to lay the foundations for a mutual understanding that is essential for synergetic development in motion research. In particular, the book promotes applications to robotics --and control in general-- of new optimization techniques based on recent results from real algebraic geometry.

This is the first comprehensive introduction to the powerful moment approach for solving global optimization problems (and some related problems) described by polynomials (and even semi-algebraic functions). In particular, the author explains how to use relatively recent results from real algebraic geometry to provide a systematic numerical scheme for computing the optimal value and global minimizers. Indeed, among other things, powerful positivity certificates from real algebraic geometry allow one to define an appropriate hierarchy of semidefinite (SOS) relaxations or LP relaxations whose optimal values converge to the global minimum. Several extensions to related optimization problems are also described. Graduate students, engineers and researchers entering the field can use this book to understand, experiment with and master this new approach through the simple worked examples provided.

Integer programming (IP) is a fascinating topic. Indeed, while linear programming (LP), its c- tinuous analogue, is well understood and extremely ef?cient LP software packages exist, solving an integer program can remain a formidable challenge, even for some small size problems. For instance, the following small (5-variable) IP problem (called the unbounded knapsack problem) min{213x?1928x?11111x?2345x +9123x} 1 2 3 4 5 s.t. 12223x +12224x +36674x +61119x +85569x = 89643482, 1 2 3 4 5 x ,x ,x ,x ,x?N, 1 2 3 4 5 taken from a list of dif?cult knapsack problems in Aardal and Lenstra [2], is not solved even by hours of computing, using for instance the last version of the ef?cient software package CPLEX. However,thisisnotabookonintegerprogramming,asverygoodonesonthistopicalreadyexist. For standard references on the theory and practice of integer programming, the interested reader is referred to, e.g., Nemhauser and Wolsey [113], Schrijver [121], Wolsey [136], and the more recent Bertsimas and Weismantel [21]. On the other hand, this book could provide a complement to the above books as it develops a rather unusual viewpoint.

Production Management is a large field concerned with all the aspects related to production, from the very bottom decisions at the machine level, to the top-level strategic decisicns. In this book, we are concerned with production planning and scheduling aspects. Traditional production planning methodologies are based on a now widely ac cepted hierarchical decom?osition into several planning decision levels. The higher in the hierarchy, the more aggregate are the models and the more important are the decisions. In this book, we only consider the last two decision levels in the hierarchy, namely, the mid-term (or tacticaQ planning level and the short-term (or operationaQ scheduling level. In the literature and in practice, the decisions are taken in sequence and in a top-down approach from the highest level in the hierarchy to the bottom level. The decisions taken at some level in the hierarchy are constrained by those already taken at upper levels and in turn, must translate into feasible objectives for the next lower levels in the hierarchy. It is a common sense remark to say that the whole hierarchical decision process is coherent if the interactions between different levels in the hierarchy are taken into account so that a decision taken at some level in the hierarchy translates into a feasible objective for the next decision level in the hierarchy. However, and surpris ingly enough, this crucial consistency issue is rarely investigated and few results are available in the literature."