The convexification effect of Minkowski summation

Understand

Let us define for a compact set $A \subset \mathbb{R}^n$ the sequence $$ A(k) = \left\{\frac{a_1+\cdots +a_k}{k}: a_1, \ldots, a_k\in A\right\}=\frac{1}{k}\Big(\underset{k\ {\rm times}}{\underbrace{A + \cdots + A}}\Big).

• $$ It was independently proved by Shapley, Folkman and Starr (1969) and by Emerson and Greenleaf (1969) that $A(k)$ approaches the convex hull of $A$ in the Hausdorff distance induced by the Euclidean norm as $k$ goes to $\infty$.
• We explore in this survey how exactly $A(k)$ approaches the convex hull of $A$, and more generally, how a Minkowski sum of possibly different compact sets approaches convexity, as measured by various indices of non-convexity.
• The non-convexity indices considered include the Hausdorff distance induced by any norm on $\mathbb{R}^n$, the volume deficit (the difference of volumes), a non-convexity index introduced by Schneider (1975), and the effective standard deviation or inner radius.