On the Approximation of Vector Optimization Problems

В работе исследуются условия сходимости приближенного метода решения задач многокритериальной оптимизации, когда целевые функции и допустимое множество заменяются их приближениями. Доказано, что достаточным условием сходимости являются равномерная сходимость приближенных функций к исходной функции и...

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Published in:Кибернетика и вычислительная техника
Date:2015
Main Author: Norkin, B.V.
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Language:English
Published: Міжнародний науково-навчальний центр інформаційних технологій і систем НАН України та МОН України 2015
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Cite this:On the Approximation of Vector Optimization Problems / B.V. Norkin // Кибернетика и вычислительная техника. — 2015. — Вип. 179. — С. 35-42. — Бібліогр.: 13 назв. — англ.

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citation_txt On the Approximation of Vector Optimization Problems / B.V. Norkin // Кибернетика и вычислительная техника. — 2015. — Вип. 179. — С. 35-42. — Бібліогр.: 13 назв. — англ.
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description В работе исследуются условия сходимости приближенного метода решения задач многокритериальной оптимизации, когда целевые функции и допустимое множество заменяются их приближениями. Доказано, что достаточным условием сходимости являются равномерная сходимость приближенных функций к исходной функции и сходимость допустимого множества приближенных задач к допустимому множеству исходной задачи, по крайней мере, в окрестности решения. У роботі досліджено умови збіжності наближеного методу розв'язання задач багатокритеріальної оптимізації у випадку коли цільові функції і допустима область замінюються їх наближеннями. Доведено, що достатньою умовою збіжності є рівномірна збіжність наближених функцій до початкової функції та збіжність допустимої множини наближени We consider an approximation approach to solving vector optimization problems. The standard approach to such problems is to optimize one criterion under constraints on the others or to scalarize the problem, i.e. to combine all criteria into one scalar criterion. This paper describes a completely different approach, where the feasible set is approximated by a discrete grid (deterministic or random) and the vector function is approximately calculated on this grid. The obtained discrete problem is exactly solved by Pareto type optimization. The paper studies conditions for convergence of the approximation method when the objective functions and the feasible set are replaced by their more and more fine approximations.
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fulltext 35 Интеллектуальное управление и системы УДК 519.6 ON THE APPROXIMATION OF VECTOR OPTIMIZATION PROBLEMS B.V. Norkin V.M. Glushkov Institute of Cybernetics of NAS of Ukraine В работе исследуются условия сходимости приближенного метода решения задач многокритериальной оптимизации, когда целевые функции и допустимое множество заменяются их приближениями. Доказано, что достаточным условием сходимости являются равномерная сходимость приближенных функций к исходной функции и сходимость допустимого множества приближенных задач к допустимому множеству исходной задачи, по крайней мере, в окрестности решения. Ключевые слова: векторная оптимизация, стохастическая многокритериальная оптимизация, парето-оптимальность, дискретная аппроксимация, эпсилон-доминирование. У роботі досліджено умови збіжності наближеного методу розв'язання задач багатокритеріальної оптимізації у випадку коли цільові функції і допустима область замінюються їх наближеннями. Доведено, що достатньою умовою збіжності є рівномірна збіжність наближених функцій до початкової функції та збіжність допустимої множини наближених задач до допустимої множини початкової задачі хоча б в околі розв´язку. Ключові слова: векторна оптимізація, стохастична багатокритеріальна оптимізація, парето-оптимальність, дискретна апроксимація, епсілон-домінування. INTRODUCTION This paper studies conditions of convergence of the successive approximations method for solving deterministic and stochastic vector optimization problems. A general form of a vector optimization problem reads as follows: ,max)}(),...,({)( R1 nXxm xFxFxF ⊂∈ →= r (1) where functions ,,...,1),( mixFi = are continuous on a compact set nX R⊂ . The problem is (a) to find individual elements or (b) the whole set of weakly Pareto optimal points XX ⊂* such that for any *Xx ∈ there is no Xx ∈′ and )()( xFxF rr >′ (component-wise). There are numerous approaches for solving problem (1) [1–3]. The most known of them consists in maximization of some component function iF under constraints on other functions or in aggregation of criteria iF by some linear or non-linear utility function and solving the resulting  B.V. Norkin, 2015 ISSN 0452-9910. Кибернетика и вычисл. техника. 2015. Вып. 179 36 optimization problems by nonlinear programming methods [1]. However, in case of non-convex functions iF it is not always possible to find all Pareto-optimal solutions in such a way. So, other approaches, that are not reduced to optimization of a scalar criterion, were developed, in particular, the parameter space investigation method [2] and methods of evolutionary programming [3]. The latter in effect are variants of controlled iterative random search method: at each iteration an approximate discrete solution * NX consisting of a finite number of points is constructed and then, using information about the objective function )( * NXF r at points * NX a new generation of points NY is generated in some way (randomly) and a new discrete approximate solution * 1+NX is selected from the set ( )N N N YXX ,*= , and so on. Finding out conditions of evolutionary programming algorithm convergence to the set of Pareto-optimal points is a serious scientific problem and is the subject of active research [4–6]. Even convergence of the simplest algorithms of this type is studied only in case of discrete feasible set X [6]. Let us, for example, sample points NY in the described approach uniformly in X and let a new approximation * 1+NX be a Pareto-optimal subset of the discrete pair ( )N N N YXX ,*= . Does the sequence { }* NX of approximations converge to the Pareto-optimal set *X of problem (1)? This article, in particular, aims at finding answers to such type of questions. PROBLEM SETTING In practice, a formulation of the vector optimization problem may be more complex than (1). For example, in the case of the stochastic vector optimization, functions F r are actually expectations, ),(E)( ωxfxF rr = , where the random variable ω is defined on some probability space ( )P,,ΣΩ , symbol E denotes expectation (integral) over measure P [7, 8]. Usually, in practical problems expectations cannot be calculated analytically, so they are estimated numerically using quadratures or Monte Carlo method. In the latter case empirical approximations of functions F r have the form ( )∑ == N k k NN xfNxF 1 ),(1),( ωω rr , where ),...,( 1 N N ωωω = is the set of independent and identically distributed observations kω of the random variable ω . In [9] one can find conditions of uniform convergence of the empirical approximations ),( NN xF ω r to the expectation ),(E)( ωxfxF rr = on a compact set X . Then, instead of (1), one has to consider a sequence of approximate problems: ,max)}(),...,({)( R1 nNXx N m NN xFxFxF ⊂∈ →= r ,...2,1=N , (2)  B.V. Norkin, 2015 ISSN 0452-9910. Кибернетика и вычисл. техника. 2015. Вып. 179 37 where the set of feasible solutions NX , in general, can also vary from task to task, for example, the set NX can be a discrete approximation of the initial feasible set X [2]. In the latter case, the approximating functions )(),...,(1 xFxF N m N can be defined only on this discrete set NX . Denote * NX the set of Pareto-optimal solutions of (2). The problem is to establish conditions under which the sets * NX approximate the set of solutions *X . In (1) iα -quantiles of random variables ),( ωxFi can serve as components of the vector objective function { }),(E),...,,(E)( 1 ωω xFxFxF m= r . It is known [10] that these quantiles can be found by solving the following auxiliary optimization problem: ( ) ( ){ } 1R min),(,),()1(maxE),( ∈ →−−−=Φ yiiiiiiii xFyyxFyx ωαωα . (3) An approximate solution )(xy N i of (3) for each fixed x can be found, for example, by N iterations of the stochastic quasi-gradient method [11], or as a corresponding term of the variational series of the random variable ),( ωxFi . Thus, one again encounters with the approximate problem (2) with functions )()( xyxF N i N i = . Another approach to solving (3) is to use an empirical approximation of components ),( ii yxΦ : =Φ ),( i N i yx ( ) ( ) ( ){ } 1R1 min),(,),()1(max1 ∈= →−−−= ∑ iy N k kiiiikii xFyyxFN ωαωα (4) and finding its approximate solution )(xy N i for each x by the linear programming method. MAIN RESULTS As noted in [2], the question of convergence of the discrete approximation of problem (1) is not easy. In our case the problem is further complicated by the fact that not only feasible set, but also the objective functions are approximated. To study convergence of approximate solutions of problems (2) to the solution of the original task (1), we’ll need some more definitions. Definition 1 (ε r -nondominated solutions). Point Xx∈ is called ε r -nondominated solution of (1), if there is no other point Xz ∈ such that ε rrr +> )()( xFzF , where .RmN ∈ε r Definition 2 [12, Section 4A]. For a sequence of sets ,...}2,1,R{ =⊂ NZ n N let us define the following cluster sets:  B.V. Norkin, 2015 ISSN 0452-9910. Кибернетика и вычисл. техника. 2015. Вып. 179 38 }lim,:{suplim kkk NkNNNN zzZzzZ ∞→∞→ =∈∃= , }lim,:{inflim NNNNNN zzZzzZ ∞→∞→ =∈∃= , NNNNiN ZZZ ∞→∞→∞→ == supliminflimlim . Denote )(* ε r X the set of all ε r - nondominated solutions of (1). In the same manner define )(* N NX ε r Nε r -nondominated solutions of (2). Our goal is to establish conditions under which sets )(* N NX ε r approximate )(* ε r X . Let us note some properties of the multivalued mapping )(* εε rr X→ . Lemma 1. The mapping )(* εε rr X→ is monotone, i.e. for 21 εε rr ≤ one has )()( 2*1* εε rr XX ⊆ . Proof. Assume the contrary that for some )( 1* ε r Xx ∈′ , )( 2* ε r Xx ∉′ there is Xz ∈′ such that 12 )()()( εε rrrrr +′≥+′>′ xFxFzF . This inequality contradicts the assumption )( 1* ε r Xx ∈′ . The lemma is proved. Lemma 2. For upper semi-continuous (component-wise) on the closed set nX R⊂ vector-function )(xF r the mapping )(* εε rr X→ is upper semicontinuous, i.e. )()(limsup ** εε rr XX N N ⊆∞→ for any sequence εε rr →N . Proof. Let εε rr →N , ∞→N and xxX kk NN ′→∋)(* ε r , ∞→k . We must show that )(* ε r Xx ∈′ . Assume the contrary, that )(* ε r Xx ∈′ . Then there is Xz ∈′ such that ε rrr +′>′ )()( xFzF . From upper semicontinuity of F r it follows ( )kk NN k xFxFzF εε rrrrr +≥+′>′ →∞ )(limsup)()( and thus for sufficiently large k relation kk NNxFzF ε rrr +>′ )()( is fulfilled. This contradicts the initial assumption )(* kk NN Xx ε r ∈ . The lemma is proved. Let us make the following assumptions on relations between problems (1) and (2) A1. For any sequence { }xxX NN →∋ it holds true )()( xFxF NN rr → , ∞→N . A2. The sequence of feasible sets { },...2,1, =NX N of (2) satisfies conditions: XX N ⊆ and for some mR∈ε r it holds N N XX ∞→⊆ inflim)(* ε r , i.e. for each point )(* ε r Xx ∈ there is a sequence of feasible points NN Xx ∈ convergent to this point )(* ε r Xx ∈ .  B.V. Norkin, 2015 ISSN 0452-9910. Кибернетика и вычисл. техника. 2015. Вып. 179 39 Condition A1 is satisfied in particular if functions NF r are defined on the set NXX ⊇ and uniformly converge to F r on X . Other possibilities are considered in [13]. Assumption A2 is automatically satisfied if XX N N =∞→lim , for example, if NX discretely approximates, with increasing accuracy, the feasible set X . Theorem 1 (on convergence of solutions of approximate tasks (2) to the solutions of the original problem (1)). Suppose that the vector function )(xF r is continuous on a compact set X , conditions A1–A2 are fulfilled and 0lim >=∞→ εε rrN N . Then 1) )()(suplim ** εε rr XX N NN ⊆∞→ , 2) )(inflim)( ** N NN XX εε rr ∞→⊆′ for all εε rr <′ . Proof. Let us prove the first assertion of the theorem. Assume the contrary, that there are )()( ** εε rr XxxX kk k NN N ∉′→∋ . Since the vector function )(xF r is bounded from above on a compact set X , then every point x′ outside of )(* ε r X is ε r -dominated by points from )(* ε r X . Indeed, if it is not true, then there is an infinite sequence of points Xz s ∈ such that )()( 1zFxF rrr <+′ ε , )()( 21 zFzF rrr <+ ε , …, i.e. )()( szFsxF rrr <+′←∞ ε , that contradicts boundedness of the vector function F r on X . So, there is a point )(* ε r Xz ∈′ such that ε rrr +′>′ )()( xFzF . By virtue of the condition A2 there is a sequence NN Xz ∈ such that zzN ′→ , ∞→N . Thus, it holds true ( )kkkkk NNN k NN k xFxFzFzF εε rrrrrr +=+′>=′ ∞→∞→ )(lim)()(lim)( . Then kkkkk NNNNN xFzF ε rrr +> )()( for all sufficiently large k , that contradicts the assumption )(* k k k N N N Xx ε r ∈ . The first assertion is proved. Now let us prove the second statement of the theorem. Assume the contrary, that there exists )()( ** εε rr XXx ⊆′∈′ (see Lemma 1) such that )(inflim * N NN Xx ε r ∞→∉′ . By condition A2 there exists a sequence xxX NN ′→∋ . Then there exist its subsequence { },...2,1, =kx kN such that )(* k k k N N N Xx ε r ∉ for all sufficiently large k , so there are points k k N N Xz ∈ such that kkkkk NNNNN xFzF ε rrr +> )()( . By compactness of k k N N zXX ∋⊇ , without loss of generality, we can consider that zz kN ′→ and xx kN ′→ , thus, by assumption A1,  B.V. Norkin, 2015 ISSN 0452-9910. Кибернетика и вычисл. техника. 2015. Вып. 179 40 ( ) εεε rrrrrrrr ′+′>+′=+≥=′ ∞→∞→ )()()(lim)(lim)( xFxFxFzFzF kkkkk NNN k NN k . Thus, the point x′ is ε r′ -dominated, that contradicts the assumption )(* ε r ′∈′ Xx . The second statement is proved. Remark 1. In [13], an analog of Theorem 1 was proved under a stronger assumption than A2: XX N N =∞→lim . If the set NX is a discrete approximation of the feasible set X , than condition A2 shows that for the validity of the theorem on convergence of solutions )(* N NX ε r то )(* ε r X it is enough to improve approximations of the feasible set only in the vicinity of approximate Pareto- optimal points )(* ε r X . Remark 2. Theorem 1, in particular, means that )()(limsup)(liminf)0( ***** εεε rrrr XXXXX N NN N NN ⊆⊆⊆= ∞→∞→ , (5) where )0(** r XX = is the set of weakly Pareto-optimal solutions of problem (1). And since the mapping )(* εε rr X→ is upper semicontinuous, also at 0=ε r , then relation (5) means that ε r -approximate solutions of problem (2) for sufficiently small ε r approximate the set of weakly Pareto optimal solutions of problem (1). CONCLUSIONS The paper studies a general approximation scheme for solving vector optimization problems. The objective vector function and the feasible set of the problem are substituted by their approximations. Accurate calculating of the objective functions or constraints of the problem is often impossible for finite (or reasonable) time and, therefore, the problem needs to be approximated. This situation is typical for stochastic multiobjective optimization. Approximate problems themselves are solved approximately with some accuracy, i.e. their approximately nondominated solutions are found. It is shown that under natural conditions, uniform convergence of approximation functions and set convergence of feasible domains, the found solutions approximate from above and from below approximately nondominated solutions of the original problem. 1. Miettinen K. Nonlinear multiobjective optimization. — Boston/London/Dordrecht: Kluwer Academic Publishers, 1999. — 298 p. 2. Sobol I.M., Statnikov R.B. Vybor optimalnyh parametrov v zadachah so mnogimi kriteriyami (Selection of optimal parameters in problems with multiple criteria). 2-nd ed, revised and supplemented. — Moscow: Drofa, 2006. — 176 p. (In Russian). 3. Deb K. Multi-objective optimization using evolutionary algorithms. — Chichester: John Willey & Sons, 2001. — 497 p. 4. Hanne T. On the convergence of multiobjective evolutionary algorithms // European J. of Operational Research. — 1999. — 117. — P. 553–564. 5. Li Z., Li Zhe, Rudolph G. On the convergence properties of quantum-inspired multi- objective evolutionary algorithms. In: Advanced intelligent computing theories and  B.V. Norkin, 2015 ISSN 0452-9910. Кибернетика и вычисл. техника. 2015. Вып. 179 41 applications. With aspects of contemporary intelligent computing techniques. — Berlin, Heidelberg: Springer, 2007. — P. 245–255. 6. Laumanns M., Zenklusen R. Stochastic convergence of random search methods to fixed size Pareto front approximations // European J. of Operational Research. — 2011. — 213. — P. 414–421. 7. Ben Abdelaziz F. Solution approaches for the multiobjective stochastic programming // European J. of Operational Research. — 2012. — 216. — P. 1–16. 8. Gutjahr W., Pichler A. Stochastic multi-objective optimization: a survey on non-scalarizing methods // Annals of Operations Research. — 2013. — P. 1–25. 9. Shapiro A., Dentcheva D., Ruszczyсński A. Lectures on stochastic programming: Modeling and theory. Second Edition. — Philadelphia: SIAM, 2014. — 494 p. 10. Koenker R. Quantile Regression. — Cambridge, New York: Cambridge University Press, 2005. 11. Ermoliev Y.M. Metody stochasticheskogo programmirovaniya (Methods of stochastic programming). — Moscow: Nauka, 1976. — 240 p. (in Russian). 12. Rockafellar R.T., Wets R.J-B. Variational Analysis. — Berlin: Springer, 1998 (3rd Printing in 2009). — 734 p. 13. Norkin B.V. Sample approximations of multiobjective stochastic optimization problems // www://optimization-online.org. Electronic preprint. — November 2014. – Access: http://www.optimization-online.org/DB_HTML/2014/11/4655.html UDC 519.6 ON THE APPROXIMATION OF VECTOR OPTIMIZATION PROBLEMS B.V. Norkin Glushkov Institute of Cybernetics of the National Academy of Sciences of Ukraine Vector optimization has a great variety of applications. Such problems naturally appear in stochastic optimization, where the optimization problem contains random parameters. In the latter case the vector objective function may include mean value, median, variance, quantiles and other characteristics of the random objective function. The difficulty is that these quantities usually cannot be calculated exactly and are non-convex as functions of variable parameters. These circumstances set additional difficulties for solving corresponding vector optimization problems. We consider an approximation approach to solving vector optimization problems. The standard approach to such problems is to optimize one criterion under constraints on the others or to scalarize the problem, i.e. to combine all criteria into one scalar criterion. This paper describes a completely different approach, where the feasible set is approximated by a discrete grid (deterministic or random) and the vector function is approximately calculated on this grid. The obtained discrete problem is exactly solved by Pareto type optimization. The paper studies conditions for convergence of the approximation method when the objective functions and the feasible set are replaced by their more and more fine approximations. Sufficient conditions are established for Pareto-optimal solutions of the approximate problems to converge in set convergence sense to the Pareto optimal solution of the original problem (with some accuracy). Namely, it is required for the approximate functions to converge uniformly to the original function and for the feasible set approximations (possibly discrete) to converge to elements of the  B.V. Norkin, 2015 ISSN 0452-9910. Кибернетика и вычисл. техника. 2015. Вып. 179 42 original feasible set, at least, in the vicinity of the solution. The result confirms a natural hypothesis that the approximation accuracy should increase when approaching to the solution. Keywords: vector optimization, stochastic multicriteria optimization, Pareto optimality, discrete approximation, epsilon-dominance. 1. Miettinen K. Nonlinear multiobjective optimization. Boston/London/Dordrecht: Kluwer Academic Publishers, 1999. 298 p. 2. Sobol I.M., Statnikov R.B. Vybor optimalnyh parametrov v zadachah so mnogimi kriteriyami (Selection of optimal parameters in problems with multiple criteria). 2-nd ed, revised and supplemented. Moscow: Drofa, 2006. 176 p. (In Russian). 3. Deb K. Multi-objective optimization using evolutionary algorithms. Chichester: John Willey & Sons, 2001. 497 p. 4. Hanne T. On the convergence of multiobjective evolutionary algorithms. European J. of Operational Research. 1999. 117. P. 553–564. 5. Li Z., Li Zhe, Rudolph G. On the convergence properties of quantum-inspired multi- objective evolutionary algorithms. In: Advanced intelligent computing theories and applications. With aspects of contemporary intelligent computing techniques. Berlin, Heidelberg: Springer, 2007. P. 245–255. 6. Laumanns M., Zenklusen R. Stochastic convergence of random search methods to fixed size Pareto front approximations. European J. of Operational Research. 2011. 213. P. 414–421. 7. Ben Abdelaziz F. Solution approaches for the multiobjective stochastic programming. European J. of Operational Research. 2012. 216. P. 1–16. 8. Gutjahr W., Pichler A. Stochastic multi-objective optimization: a survey on non-scalarizing methods. Annals of Operations Research. 2013. P. 1–25. 9. Shapiro A., Dentcheva D., Ruszczyсński A. Lectures on stochastic programming: Modeling and theory. Second Edition. Philadelphia: SIAM, 2014. 494 p. 10. Koenker R. Quantile Regression. Cambridge, New York: Cambridge University Press, 2005. 11. Ermoliev Y.M. Metody stochasticheskogo programmirovaniya (Methods of stochastic programming). Moscow: Nauka, 1976. 240 p. (in Russian). 12. Rockafellar R.T., Wets R.J-B. Variational Analysis. Berlin: Springer, 1998 (3rd Printing in 2009). 734 p. 13. Norkin B.V. Sample approximations of multiobjective stochastic optimization problems. www://optimization-online.org. Electronic preprint. November 2014. Access: http://www.optimization-online.org/DB_HTML/2014/11/4655.html Получено 12.12.2014  B.V. Norkin, 2015 ISSN 0452-9910. Кибернетика и вычисл. техника. 2015. Вып. 179
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On the Approximation of Vector Optimization Problems / B.V. Norkin // Кибернетика и вычислительная техника. — 2015. — Вип. 179. — С. 35-42. — Бібліогр.: 13 назв. — англ.
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https://nasplib.isofts.kiev.ua/handle/123456789/86145
519.6
В работе исследуются условия сходимости приближенного метода решения задач многокритериальной оптимизации, когда целевые функции и допустимое множество заменяются их приближениями. Доказано, что достаточным условием сходимости являются равномерная сходимость приближенных функций к исходной функции и сходимость допустимого множества приближенных задач к допустимому множеству исходной задачи, по крайней мере, в окрестности решения.
У роботі досліджено умови збіжності наближеного методу розв'язання задач багатокритеріальної оптимізації у випадку коли цільові функції і допустима область замінюються їх наближеннями. Доведено, що достатньою умовою збіжності є рівномірна збіжність наближених функцій до початкової функції та збіжність допустимої множини наближени
We consider an approximation approach to solving vector optimization problems. The standard approach to such problems is to optimize one criterion under constraints on the others or to scalarize the problem, i.e. to combine all criteria into one scalar criterion. This paper describes a completely different approach, where the feasible set is approximated by a discrete grid (deterministic or random) and the vector function is approximately calculated on this grid. The obtained discrete problem is exactly solved by Pareto type optimization. The paper studies conditions for convergence of the approximation method when the objective functions and the feasible set are replaced by their more and more fine approximations.
en
Міжнародний науково-навчальний центр інформаційних технологій і систем НАН України та МОН України
Кибернетика и вычислительная техника
Интеллектуальное управление и системы
On the Approximation of Vector Optimization Problems
Про апроксимацію задач векторної оптимізації
Об аппроксимации задач векторной оптимизации
Article
published earlier
spellingShingle On the Approximation of Vector Optimization Problems
Norkin, B.V.
Интеллектуальное управление и системы
title On the Approximation of Vector Optimization Problems
title_alt Про апроксимацію задач векторної оптимізації
Об аппроксимации задач векторной оптимизации
title_full On the Approximation of Vector Optimization Problems
title_fullStr On the Approximation of Vector Optimization Problems
title_full_unstemmed On the Approximation of Vector Optimization Problems
title_short On the Approximation of Vector Optimization Problems
title_sort on the approximation of vector optimization problems
topic Интеллектуальное управление и системы
topic_facet Интеллектуальное управление и системы
url https://nasplib.isofts.kiev.ua/handle/123456789/86145
work_keys_str_mv AT norkinbv ontheapproximationofvectoroptimizationproblems
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AT norkinbv obapproksimaciizadačvektornoioptimizacii