Skip to main content

First Order Methods for Optimization on Riemannian Manifolds

  • Chapter
  • First Online:
Book cover Handbook of Variational Methods for Nonlinear Geometric Data

Abstract

This chapter considers optimization problems on Riemannian manifolds and presents asymptotic and iteration-complexity analysis for gradient and subgradient methods on manifolds with sectional curvatures bounded from below. It also establishes asymptotic and iteration-complexity analysis for the proximal point method on Hadamard manifolds.

This is a preview of subscription content, log in via an institution to check access.

Access this chapter

Chapter
USD 29.95
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
eBook
USD 169.00
Price excludes VAT (USA)
  • Available as EPUB and PDF
  • Read on any device
  • Instant download
  • Own it forever
Softcover Book
USD 219.99
Price excludes VAT (USA)
  • Compact, lightweight edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info
Hardcover Book
USD 219.99
Price excludes VAT (USA)
  • Durable hardcover edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info

Tax calculation will be finalised at checkout

Purchases are for personal use only

Institutional subscriptions

References

  1. Absil, P.A., Baker, C.G., Gallivan, K.A.: Trust-region methods on Riemannian manifolds. Found. Comput. Math. 7(3), 303–330 (2007)

    Article  MathSciNet  MATH  Google Scholar 

  2. Absil, P.A., Mahony, R., Sepulchre, R.: Optimization Algorithms on Matrix Manifolds. Princeton University Press, Princeton (2008). With a foreword by Paul Van Dooren

    Google Scholar 

  3. Afsari, B., Tron, R., Vidal, R.: On the convergence of gradient descent for finding the Riemannian center of mass. SIAM J. Control Optim. 51(3), 2230–2260 (2013)

    Article  MathSciNet  MATH  Google Scholar 

  4. Arsigny, V., Fillard, P., Pennec, X., Ayache, N.: Geometric means in a novel vector space structure on symmetric positive-definite matrices. SIAM J. Matrix Anal. Appl. 29(1), 328–347 (2006)

    Article  MathSciNet  MATH  Google Scholar 

  5. Bačák, M.: The proximal point algorithm in metric spaces. Israel J. Math. 194(2), 689–701 (2013)

    Article  MathSciNet  MATH  Google Scholar 

  6. Bačák, M., Bergmann, R., Steidl, G., Weinmann, A.: A second order nonsmooth variational model for restoring manifold-valued images. SIAM J. Sci. Comput. 38(1), A567–A597 (2016)

    Article  MathSciNet  MATH  Google Scholar 

  7. Batista, E.E.A., Bento, G.d.C., Ferreira, O.P.: Enlargement of monotone vector fields and an inexact proximal point method for variational inequalities in Hadamard manifolds. J. Optim. Theory Appl. 170(3), 916–931 (2016)

    Google Scholar 

  8. Baust, M., Weinmann, A., Wieczorek, M., Lasser, T., Storath, M., Navab, N.: Combined tensor fitting and TV regularization in diffusion tensor imaging based on a Riemannian manifold approach. IEEE Trans. Med. Imaging 35(8), 1972–1989 (2016)

    Article  Google Scholar 

  9. Bento, G.C., Cruz Neto, J.X.: A subgradient method for multiobjective optimization on Riemannian manifolds. J. Optim. Theory Appl. 159(1), 125–137 (2013)

    Article  MathSciNet  MATH  Google Scholar 

  10. Bento, G.C., Cruz Neto, J.X.: Finite termination of the proximal point method for convex functions on Hadamard manifolds. Optimization 63(9), 1281–1288 (2014)

    Article  MathSciNet  MATH  Google Scholar 

  11. Bento, G.C., Melo, J.G.: Subgradient method for convex feasibility on Riemannian manifolds. J. Optim. Theory Appl. 152(3), 773–785 (2012)

    Article  MathSciNet  MATH  Google Scholar 

  12. Bento, G.C., Ferreira, O.P., Oliveira, P.R.: Proximal point method for a special class of nonconvex functions on Hadamard manifolds. Optimization 64(2), 289–319 (2015)

    Article  MathSciNet  MATH  Google Scholar 

  13. Bento, G., da Cruz Neto, J., Oliveira, P.R.: A new approach to the proximal point method: convergence on general Riemannian manifolds. J. Optim. Theory Appl. 168(3), 743–755 (2016)

    Article  MathSciNet  MATH  Google Scholar 

  14. Bento, G.C., Ferreira, O.P., Melo, J.G.: Iteration-complexity of gradient, subgradient and proximal point methods on Riemannian manifolds. J. Optim. Theory Appl. 173(2), 548–562 (2017)

    Article  MathSciNet  MATH  Google Scholar 

  15. Bento, G.C., Bitar, S.D.B., Cruz Neto, J.X., Oliveira, P.R., Souza, J.C.: Computing Riemannian center of mass on Hadamard manifolds. J. Optim. Theory Appl. (2019)

    Google Scholar 

  16. Bergmann, R., Weinmann, A.: A second-order TV-type approach for inpainting and denoising higher dimensional combined cyclic and vector space data. J. Math. Imaging Vision 55(3), 401–427 (2016)

    Article  MathSciNet  MATH  Google Scholar 

  17. Bergmann, R., Persch, J., Steidl, G.: A parallel Douglas-Rachford algorithm for minimizing ROF-like functionals on images with values in symmetric Hadamard manifolds. SIAM J. Imaging Sci. 9(3), 901–937 (2016)

    Article  MathSciNet  MATH  Google Scholar 

  18. Bhattacharya, A., Bhattacharya, R.: Statistics on Riemannian manifolds: asymptotic distribution and curvature. Proc. Amer. Math. Soc. 136(8), 2959–2967 (2008)

    Article  MathSciNet  MATH  Google Scholar 

  19. Bini, D.A., Iannazzo, B.: Computing the Karcher mean of symmetric positive definite matrices. Linear Algebra Appl. 438(4), 1700–1710 (2013)

    Article  MathSciNet  MATH  Google Scholar 

  20. Bonnabel, S.: Stochastic gradient descent on Riemannian manifolds. IEEE Trans. Automat. Control 58(9), 2217–2229 (2013)

    Article  MathSciNet  MATH  Google Scholar 

  21. Boumal, N., Absil, P.A., Cartis, C.: Global rates of convergence for nonconvex optimization on manifolds. IMA J. Numer. Anal. 39(1), 1–33 (2018)

    MathSciNet  Google Scholar 

  22. Bredies, K., Holler, M., Storath, M., Weinmann, A.: Total generalized variation for manifold-valued data. SIAM J. Imaging Sci. 11(3), 1785–1848 (2018)

    Article  MathSciNet  MATH  Google Scholar 

  23. Burachik, R., Drummond, L.M.G., Iusem, A.N., Svaiter, B.F.: Full convergence of the steepest descent method with inexact line searches. Optimization 32(2), 137–146 (1995)

    Article  MathSciNet  MATH  Google Scholar 

  24. Chaipunya, P., Kumam, P.: On the proximal point method in Hadamard spaces. Optimization 66(10), 1647–1665 (2017)

    Article  MathSciNet  MATH  Google Scholar 

  25. Cholamjiak, P., Abdou, A.A.N., Cho, Y.J.: Proximal point algorithms involving fixed points of nonexpansive mappings in CAT(0) spaces. Fixed Point Theory Appl. 2015(13), 227 (2015)

    Article  MathSciNet  MATH  Google Scholar 

  26. Correa, R., Lemaréchal, C.: Convergence of some algorithms for convex minimization. Math. Program. 62(2, Ser. B), 261–275 (1993)

    Google Scholar 

  27. Cuntavepanit, A., Phuengrattana, W.: On solving the minimization problem and the fixed-point problem for a finite family of non-expansive mappings in CAT(0) spaces. Optim. Methods Softw. 33(2), 311–321 (2018)

    Article  MathSciNet  MATH  Google Scholar 

  28. da Cruz Neto, J.X., de Lima, L.L., Oliveira, P.R.: Geodesic algorithms in Riemannian geometry. Balkan J. Geom. Appl. 3(2), 89–100 (1998)

    MathSciNet  MATH  Google Scholar 

  29. da Cruz Neto, J.X., Ferreira, O.P., Lucambio Pérez, L.R.: Contributions to the study of monotone vector fields. Acta Math. Hungar. 94(4), 307–320 (2002)

    Article  MathSciNet  MATH  Google Scholar 

  30. Da Cruz Neto, J.X., Ferreira, O.P., Pérez, L.R.L., Németh, S.Z.: Convex- and monotone-transformable mathematical programming problems and a proximal-like point method. J. Global Optim. 35(1), 53–69 (2006)

    Article  MathSciNet  MATH  Google Scholar 

  31. do Carmo, M.P.: Riemannian Geometry. Mathematics: Theory & Applications. Birkhäuser Boston, Boston (1992). Translated from the second Portuguese edition by Francis Flaherty

    Google Scholar 

  32. Edelman, A., Arias, T.A., Smith, S.T.: The geometry of algorithms with orthogonality constraints. SIAM J. Matrix Anal. Appl. 20(2), 303–353 (1999)

    Article  MathSciNet  MATH  Google Scholar 

  33. Esposito, M., Hennersperger, C., Gobl, R., Demaret, L., Storath, M., Navab, N., Baust, M., Weinmann, A.: Total variation regularization of pose signals with an application to 3D freehand ultrasound. IEEE Trans. Med. Imaging 38(10), 2245–2258 (2019)

    Article  Google Scholar 

  34. Ferreira, O.P., Oliveira, P.R.: Subgradient algorithm on Riemannian manifolds. J. Optim. Theory Appl. 97(1), 93–104 (1998)

    Article  MathSciNet  MATH  Google Scholar 

  35. Ferreira, O.P., Oliveira, P.R.: Proximal point algorithm on Riemannian manifolds. Optimization 51(2), 257–270 (2002)

    Article  MathSciNet  MATH  Google Scholar 

  36. Ferreira, O.P., Louzeiro, M.S., Prudente, L.F.: Gradient method for optimization on riemannian manifolds with lower bounded curvature. SIAM J. Optim. 29(4), 2517–2541 (2019). e-prints. arXiv:1806.02694

    Google Scholar 

  37. Ferreira, O.P., Louzeiro, M.S., Prudente, L.F.: Iteration-complexity of the subgradient method on Riemannian manifolds with lower bounded curvature. Optimization 68(4), 713–729 (2019)

    Article  MathSciNet  MATH  Google Scholar 

  38. Fletcher, P.T.: Geodesic regression and the theory of least squares on Riemannian manifolds. Int. J. Comput. Vis. 105(2), 171–185 (2013)

    Article  MathSciNet  MATH  Google Scholar 

  39. Freifeld, O., Black, M.J.: Lie bodies: a manifold representation of 3D human shape. In: Proceedings of European Conference on Computer Vision 2012. Springer, Berlin (2012)

    Google Scholar 

  40. Gabay, D.: Minimizing a differentiable function over a differential manifold. J. Optim. Theory Appl. 37(2), 177–219 (1982)

    Article  MathSciNet  MATH  Google Scholar 

  41. Goffin, J.L.: Subgradient optimization in nonsmooth optimization (including the Soviet revolution). Doc. Math. (Extra vol.: Optimization stories), 277–290 (2012)

    Google Scholar 

  42. Grohs, P., Hosseini, S.: ε-Subgradient algorithms for locally lipschitz functions on Riemannian manifolds. Adv. Comput. Math. 42(2), 333–360 (2016)

    Google Scholar 

  43. Hawe, S., Kleinsteuber, M., Diepold, K.: Analysis operator learning and its application to image reconstruction. IEEE Trans. Image Process. 22(6), 2138–2150 (2013)

    Article  MathSciNet  MATH  Google Scholar 

  44. Honkela, A., Raiko, T., Kuusela, M., Tornio, M., Karhunen, J.: Approximate Riemannian conjugate gradient learning for fixed-form variational Bayes. J. Mach. Learn. Res. 11, 3235–3268 (2010)

    MathSciNet  MATH  Google Scholar 

  45. Huang, W., Gallivan, K.A., Absil, P.A.: A Broyden class of quasi-Newton methods for Riemannian optimization. SIAM J. Optim. 25(3), 1660–1685 (2015)

    Article  MathSciNet  MATH  Google Scholar 

  46. Jeuris, B., Vandebril, R., Vandereycken, B.: A survey and comparison of contemporary algorithms for computing the matrix geometric mean. Electron. Trans. Numer. Anal. 39, 379–402 (2012)

    MathSciNet  MATH  Google Scholar 

  47. Kajimura, T., Kimura, Y.: Resolvents of convex functions in complete geodesic metric spaces with negative curvature. J. Fixed Point Theory Appl. 21(1), 15 (2019). Art. 32

    Google Scholar 

  48. Karmarkar, N.: Riemannian geometry underlying interior-point methods for linear programming. In: Mathematical Developments Arising from Linear Programming (Brunswick, ME, 1988), Contemporary Mathematics, vol. 114, pp. 51–75. American Mathematical Society, Providence (1990)

    Google Scholar 

  49. Kum, S., Yun, S.: Incremental gradient method for Karcher mean on symmetric cones. J. Optim. Theory Appl. 172(1), 141–155 (2017)

    Article  MathSciNet  MATH  Google Scholar 

  50. Lang, S.: Fundamentals of Differential Geometry, Graduate Texts in Mathematics, vol. 191. Springer, New York (1999)

    Book  Google Scholar 

  51. Lerkchaiyaphum, K., Phuengrattana, W.: Iterative approaches to solving convex minimization problems and fixed point problems in complete CAT(0) spaces. Numer. Algorithms 77(3), 727–740 (2018)

    Article  MathSciNet  MATH  Google Scholar 

  52. Leuştean, L., Nicolae, A., Sipoş, A.: An abstract proximal point algorithm. J. Global Optim. 72(3), 553–577 (2018)

    Article  MathSciNet  MATH  Google Scholar 

  53. Li, C., Yao, J.C.: Variational inequalities for set-valued vector fields on Riemannian manifolds: convexity of the solution set and the proximal point algorithm. SIAM J. Control Optim. 50(4), 2486–2514 (2012)

    Article  MathSciNet  MATH  Google Scholar 

  54. Li, C., López, G., Martín-Márquez, V.: Monotone vector fields and the proximal point algorithm on Hadamard manifolds. J. Lond. Math. Soc. (2) 79(3), 663–683 (2009)

    Google Scholar 

  55. Li, C., Mordukhovich, B.S., Wang, J., Yao, J.C.: Weak sharp minima on Riemannian manifolds. SIAM J. Optim. 21(4), 1523–1560 (2011)

    Article  MathSciNet  MATH  Google Scholar 

  56. Luenberger, D.G.: The gradient projection method along geodesics. Management Sci. 18, 620–631 (1972)

    Article  MathSciNet  MATH  Google Scholar 

  57. Manton, J.H.: A framework for generalising the Newton method and other iterative methods from Euclidean space to manifolds. Numer. Math. 129(1), 91–125 (2015)

    Article  MathSciNet  MATH  Google Scholar 

  58. Martinet, B.: Régularisation d’inéquations variationnelles par approximations successives. Rev. Française Informat. Recherche Opérationnelle 4(Ser. R-3), 154–158 (1970)

    Google Scholar 

  59. Miller, S.A., Malick, J.: Newton methods for nonsmooth convex minimization: connections among U-Lagrangian, Riemannian Newton and SQP methods. Math. Program. 104(2–3, Ser. B), 609–633 (2005)

    Google Scholar 

  60. Nesterov, Y.E., Todd, M.J.: On the Riemannian geometry defined by self-concordant barriers and interior-point methods. Found. Comput. Math. 2(4), 333–361 (2002)

    Article  MathSciNet  MATH  Google Scholar 

  61. Pakkaranang, N., Kumam, P., Cho, Y.J.: Proximal point algorithms for solving convex minimization problem and common fixed points problem of asymptotically quasi-nonexpansive mappings in CAT(0) spaces with convergence analysis. Numer. Algorithms 78(3), 827–845 (2018)

    Article  MathSciNet  MATH  Google Scholar 

  62. Papa Quiroz, E.A., Oliveira, P.R.: Proximal point methods for quasiconvex and convex functions with Bregman distances on Hadamard manifolds. J. Convex Anal. 16(1), 49–69 (2009)

    MathSciNet  MATH  Google Scholar 

  63. Papa Quiroz, E.A., Quispe, E.M., Oliveira, P.R.: Steepest descent method with a generalized Armijo search for quasiconvex functions on Riemannian manifolds. J. Math. Anal. Appl. 341(1), 467–477 (2008)

    Article  MathSciNet  MATH  Google Scholar 

  64. Park, F.C., Bobrow, J.E., Ploen, S.R.: A lie group formulation of robot dynamics. Int. J. Rob. Res. 14(6), 609–618 (1995)

    Article  Google Scholar 

  65. Phuengrattana, W., Onjai-uea, N., Cholamjiak, P.: Modified proximal point algorithms for solving constrained minimization and fixed point problems in complete CAT(0) spaces. Mediterr. J. Math. 15(3), 20 (2018). Art. 97

    Google Scholar 

  66. Poljak, B.T.: Subgradient methods: a survey of Soviet research. In: Nonsmooth Optimization (Proceedings of the IIASA Workshop, Laxenburg, 1977), IIASA Proc. Ser., vol. 3, pp. 5–29. Pergamon, Oxford (1978)

    Google Scholar 

  67. Rapcsák, T.: Smooth nonlinear optimization in \(\mathbb R^n\). In: Nonconvex Optimization and Its Applications, vol. 19. Kluwer Academic Publishers, Dordrecht (1997)

    Google Scholar 

  68. Rockafellar, R.T.: Monotone operators and the proximal point algorithm. SIAM J. Control. Optim. 14(5), 877–898 (1976)

    Article  MathSciNet  MATH  Google Scholar 

  69. Rothaus, O.S.: Domains of positivity. Abh. Math. Sem. Univ. Hamburg 24, 189–235 (1960)

    Article  MathSciNet  MATH  Google Scholar 

  70. Said, S., Bombrun, L., Berthoumieu, Y., Manton, J.H.: Riemannian Gaussian distributions on the space of symmetric positive definite matrices. IEEE Trans. Inform. Theory 63(4), 2153–2170 (2017)

    Article  MathSciNet  MATH  Google Scholar 

  71. Sakai, T.: Riemannian geometry. In: Translations of Mathematical Monographs, vol. 149. American Mathematical Society, Providence (1996). Translated from the 1992 Japanese original by the author

    Google Scholar 

  72. Sato, H.: A Dai-Yuan-type Riemannian conjugate gradient method with the weak Wolfe conditions. Comput. Optim. Appl. 64(1), 101–118 (2016)

    Article  MathSciNet  MATH  Google Scholar 

  73. Smith, S.T.: Optimization techniques on Riemannian manifolds. In: Hamiltonian and Gradient Flows, Algorithms and Control, Fields Institute Communications, vol. 3, pp. 113–136. American Mathematical Society, Providence (1994)

    Google Scholar 

  74. Souza, J.C.O., Oliveira, P.R.: A proximal point algorithm for DC fuctions on Hadamard manifolds. J. Global Optim. 63(4), 797–810 (2015)

    Article  MathSciNet  MATH  Google Scholar 

  75. Sra, S., Hosseini, R.: Conic geometric optimization on the manifold of positive definite matrices. SIAM J. Optim. 25(1), 713–739 (2015)

    Article  MathSciNet  MATH  Google Scholar 

  76. Udrişte, C.: Convex functions and optimization methods on Riemannian manifolds. In: Mathematics and Its Applications, vol. 297. Kluwer Academic Publishers, Dordrecht (1994)

    Google Scholar 

  77. Ugwunnadi, G.C., Khan, A.R., Abbas, M.: A hybrid proximal point algorithm for finding minimizers and fixed points in CAT(0) spaces. J. Fixed Point Theory Appl. 20(2), 19 (2018). Art. 82

    Google Scholar 

  78. Wang, J.H.: Convergence of Newton’s method for sections on Riemannian manifolds. J. Optim. Theory Appl. 148(1), 125–145 (2011)

    Article  MathSciNet  MATH  Google Scholar 

  79. Wang, X.M.: Subgradient algorithms on riemannian manifolds of lower bounded curvatures. Optimization 67(1), 179–194 (2018)

    Article  MathSciNet  MATH  Google Scholar 

  80. Wang, J.H., López, G., Martín-Márquez, V., Li, C.: Monotone and accretive vector fields on Riemannian manifolds. J. Optim. Theory Appl. 146(3), 691–708 (2010)

    Article  MathSciNet  MATH  Google Scholar 

  81. Wang, X., Li, C., Wang, J., Yao, J.C.: Linear convergence of subgradient algorithm for convex feasibility on Riemannian manifolds. SIAM J. Optim. 25(4), 2334–2358 (2015)

    Article  MathSciNet  MATH  Google Scholar 

  82. Wang, J., Li, C., Lopez, G., Yao, J.C.: Proximal point algorithms on Hadamard manifolds: linear convergence and finite termination. SIAM J. Optim. 26(4), 2696–2729 (2016)

    Article  MathSciNet  MATH  Google Scholar 

  83. Wang, X., López, G., Li, C., Yao, J.C.: Equilibrium problems on Riemannian manifolds with applications. J. Math. Anal. Appl. 473(2), 866–891 (2019)

    Article  MathSciNet  MATH  Google Scholar 

  84. Weber, M., Sra, S.: Riemannian frank-wolfe with application to the geometric mean of positive definite matrices. ArXiv e-prints, pp. 1–21 (2018)

    Google Scholar 

  85. Weinmann, A., Demaret, L., Storath, M.: Total variation regularization for manifold-valued data. SIAM J. Imaging Sci. 7(4), 2226–2257 (2014).

    Article  MathSciNet  MATH  Google Scholar 

  86. Weinmann, A., Demaret, L., Storath, M.: Mumford-Shah and Potts regularization for manifold-valued data. J. Math. Imaging Vision 55(3), 428–445 (2016).

    Article  MathSciNet  MATH  Google Scholar 

  87. Wen, Z., Yin, W.: A feasible method for optimization with orthogonality constraints. Math. Program. 142(1–2, Ser. A), 397–434 (2013)

    Google Scholar 

  88. Wilson, B., Leimeister, M.: Gradient descent in hyperbolic space, pp. 1–10 (2018). arXiv e-prints

    Google Scholar 

  89. Yao, T.T., Bai, Z.J., Zhao, Z.: A Riemannian variant of the Fletcher-Reeves conjugate gradient method for stochastic inverse eigenvalue problems with partial eigendata. Numer. Linear Algebra Appl. 26(2), e2221, 19 (2019)

    Google Scholar 

  90. Zhang, T.: A majorization-minimization algorithm for computing the Karcher mean of positive definite matrices. SIAM J. Matrix Anal. Appl. 38(2), 387–400 (2017)

    Article  MathSciNet  MATH  Google Scholar 

  91. Zhang, P., Bao, G.: An incremental subgradient method on Riemannian manifolds. J. Optim. Theory Appl. 176(3), 711–727 (2018)

    Article  MathSciNet  MATH  Google Scholar 

  92. Zhang, H., Sra, S.: First-order methods for geodesically convex optimization. JMLR Workshop Conf. Proc. 49(1), 1–21 (2016)

    Google Scholar 

  93. Zhang, H., Reddi, S.J., Sra, S.: Riemannian SVRG: fast stochastic optimization on Riemannian manifolds. ArXiv e-prints, pp. 1–17 (2016)

    Google Scholar 

  94. Zhu, X.: A Riemannian conjugate gradient method for optimization on the Stiefel manifold. Comput. Optim. Appl. 67(1), 73–110 (2017)

    Article  MathSciNet  MATH  Google Scholar 

Download references

Acknowledgements

This work was supported by CNPq 302473∕2017 − 3, 408151∕2016 − 1 and 424860∕2018 − 0, FAPEG/CNPq/PPP—03/2015 and FAPEG/PRONEM—201710267000532. This work is part of a measure which is co-financed by tax revenue based on the budget approved by the members of the Saxon state parliament. Financial support is gratefully acknowledged.

Author information

Authors and Affiliations

Authors

Corresponding author

Correspondence to Orizon P. Ferreira .

Editor information

Editors and Affiliations

Rights and permissions

Reprints and permissions

Copyright information

© 2020 Springer Nature Switzerland AG

About this chapter

Check for updates. Verify currency and authenticity via CrossMark

Cite this chapter

Ferreira, O.P., Louzeiro, M.S., Prudente, L.F. (2020). First Order Methods for Optimization on Riemannian Manifolds. In: Grohs, P., Holler, M., Weinmann, A. (eds) Handbook of Variational Methods for Nonlinear Geometric Data. Springer, Cham. https://doi.org/10.1007/978-3-030-31351-7_18

Download citation

Publish with us

Policies and ethics