Xiaowei Bao Nikolaos V. Sahinidis Mohit Tawarmalani Semidefinite relaxations for quadratically constrained quadratic programming: A review and comparisons. 129-157 2011 129 Math. Program. 1 https://doi.org/10.1007/s10107-011-0462-2 db/journals/mp/mp129.html#BaoST11