“…Most of the known results in this area are limited to very specific sets [46,69,71] or to approximations of semi-algebraic sets through Semidefinite Programming (SDP) [37,51,60,61,62,63,64]. While some precise SDP representations of the convex hulls of semi-algebraic sets exist [42,44,45,68], these require the use of auxiliary variables. Such higher dimensional, extended, or lifted representations are extremely 1 INTRODUCTION 2 powerful.…”