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We develop a framework for quantitative convergence analysis of Picard iterations of expansive set-valued fixed point mappings. There are two key components of the analysis. The first is a natural generalization of single-valued averaged mappings to expansive set-valued mappings that characterizes a type of strong calmness of the fixed point mapping. The second component to this analysis is an extension of the well-established notion of metric subregularity—or inverse calmness—of the mapping at fixed points. Convergence of expansive fixed point iterations is proved using these two properties, and quantitative estimates are a natural by-product of the framework. To demonstrate the application of the theory, we prove, for the first time, a number of results showing local linear convergence of nonconvex cyclic projections for inconsistent (and consistent) feasibility problems, local linear convergence of the forward-backward algorithm for structured optimization without convexity, strong or otherwise, and local linear convergence of the Douglas-Rachford algorithm for structured nonconvex minimization. This theory includes earlier approaches for known results, convex and nonconvex, as special cases.

We present necessary conditions for monotonicity of fixed point iterations of mappings that may violate the usual nonexpansive property. Notions of linear-type monotonicity of fixed point sequences—weaker than Fejér monotonicity—are shown to imply metric subregularity. This, together with the almost averaging property recently introduced by Luke et al. (Math Oper Res, 2018. https://doi.org/10.1287/moor.2017.0898), guarantees linear convergence of the sequence to a fixed point. We specialize these results to the alternating projections iteration where the metric subregularity property takes on a distinct geometric characterization of sets at points of intersection called subtransversality. Subtransversality is shown to be necessary for linear convergence of alternating projections for consistent feasibility.

In this paper, we mainly study subtransversality and two types of strong CHIP (given via Fréchet and limiting normal cones) for a collection of finitely many closed sets. We first prove characterizations of Asplund spaces in terms of subtransversality and intersection formulae of Fréchet normal cones. Several necessary conditions for subtransversality of closed sets are obtained via Fréchet/limiting normal cones in Asplund spaces. Then, we consider subtransversality for some special closed sets in convex-composite optimization. In this frame we prove an equivalence result on subtransversality, strong Fréchet CHIP and property (G) so as to extend a duality characterization of subtransversality of finitely many closed convex sets via strong CHIP and property (G) to the possibly non-convex case. As applications, we use these results on subtransversality and strong CHIP to study error bounds of inequality systems and give several dual criteria for error bounds via Fréchet normal cones and subdifferentials.

This paper continues the study of ‘good arrangements’ of collections of sets near a point in their intersection. Our aim is to develop a general scheme for quantitative analysis of several transversality properties within the same framework. We consider a general nonlinear setting and establish dual (subdifferential and normal cone) sufficient characterizations of transversality properties of collections of sets in Banach/Asplund spaces. Besides quantitative estimates for the rates/moduli of the corresponding properties, we establish here also estimates for the other parameters involved in the definitions, particularly the size of the neighbourhood where a property holds. Interpretations of the main general nonlinear characterizations for the case of Hölder transversality are provided. Some characterizations are new even in the linear setting. As an application, we provide dual sufficient conditions for nonlinear extensions of the new transversality properties of a set-valued mapping to a set in the range space due to Ioffe.

This paper continues the study of general nonlinear transversality properties of collections of sets and focuses on primal necessary (in some cases also sufficient) characterizations of the properties. We formulate geometric, metric and slope characterizations, particularly in the convex setting. The Hölder case is given a special attention. Quantitative relations between the nonlinear transversality properties of collections of sets and the corresponding regularity properties of set-valued mappings as well as two nonlinear transversality properties of a convex set-valued mapping to a convex set in the range space are discussed.

We discuss various aspects of newly developed extension of the classical transversality theory to variational analysis and optimization theory. In particular, we give interpretations in transversality terms of some key results (relating to subdifferential calculus, necessary optimality conditions and linear convergence of alternating projections) and prove a set-valued version of the Thom transversality theorem for semi-algebraic objects.