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We consider projection algorithms for solving (nonconvex) feasibility problems in Euclidean spaces. Of special interest are the method of alternating projections (AP) and the Douglas--Rachford algorithm (DR). In the case of convex feasibility, firm nonexpansiveness of projection mappings is a global property that yields global convergence of AP and for consistent problems DR. A notion of local subfirm nonexpansiveness with respect to the intersection is introduced for consistent feasibility problems. This, together with a coercivity condition that relates to the regularity of the collection of sets at points in the intersection, yields local linear convergence of AP for a wide class of nonconvex problems and even local linear convergence of nonconvex instances of the DR algorithm.

Nonconvex Notions of Regularity and Convergence of Fundamental Algorithms for Feasibility Problems