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Plot of convex potential functions corresponding to the q-GGMRF priors
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Original optimization problem and its explicit and convex approximation

A piecewise linear approximation of a convex quadratic function
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Schematic diagram of convex optimization for the energy-efficient train

Simpler convex approximations of the electrical energy consumption as a

Plot of convex potential functions corresponding to the q-GGMRF priors

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