“…Here the optimistic (co-operative) formulation is assumed, i.e., the leader can choose among globally optimal lower-level solutions to achieve the best outer objective value. Special cases of bilevel programming have been studied extensively, and many algorithms have been proposed, see e.g., [4,7,8,11,12,[14][15][16]19,28,35,36,43] for reviews. However, the general nonconvex form is very challenging and only recently were the first methods to tackle this class of problems proposed.…”