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MR2554910 (2010i:90086) 90C26 (65K05 90-08 90C22)
Henrion, Didier; Lasserre, Jean-Bernard; Löfberg, Johan GloptiPoly 3: moments, optimization and semidefinite programming. Optim. Methods Softw. 24 (2009), no. 4-5, 761–779.
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