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Clara Löh
1 Introduction 1
Part I Groups 7
2 Generating groups 9
2.1 Review of the category of groups 10
2.1.1 Abstract groups: axioms 10
2.1.2 Concrete groups: automorphism groups 12
2.1.3 Normal subgroups and quotients 16
2.2 Groups via generators and relations 19
2.2.1 Generating sets of groups 19
2.2.2 Free groups 20
2.2.3 Generators and relations 25
2.2.4 Finitely presented groups 29
2.3 New groups out of old 31
2.3.1 Products and extensions 32
2.3.2 Free products and amalgamated free products 34
2.E Exercises 39
Part II Groups ! Geometry 51
3 Cayley graphs 53
3.1 Review of graph notation 54
3.2 Cayley graphs 57
3.3 Cayley graphs of free groups 61
3.3.1 Free groups and reduced words 62
3.3.2 Free groups → trees 65
3.3.3 Trees → free groups 66
3.E Exercises 68
4 Group actions 75
4.1 Review of group actions 76
4.1.1 Free actions 77
4.1.2 Orbits and stabilisers 80
4.1.3 Application: Counting via group actions 83
4.1.4 Transitive actions 84
4.2 Free groups and actions on trees 86
4.2.1 Spanning trees for group actions 87
4.2.2 Reconstructing a Cayley tree 88
4.2.3 Application: Subgroups of free groups are free 92
4.3 The ping-pong lemma 95
4.4 Free subgroups of matrix groups 97
4.4.1 Application: The group SL(2, Z) is virtually free 97
4.4.2 Application: Regular graphs of large girth 100
4.4.3 Application: The Tits alternative 102
4.E Exercises 105
5 Quasi-isometry 115
5.1 Quasi-isometry types of metric spaces 116
5.2 Quasi-isometry types of groups 122
5.2.1 First examples 125
5.3 Quasi-geodesics and quasi-geodesic spaces 127
5.3.1 (Quasi-)Geodesic spaces 127
5.3.2 Geodesification via geometric realisation of graphs 128
5.4 The Švarc–Milnor lemma 132
5.4.1 Application: (Weak) commensurability 137
5.4.2 Application: Geometric structures on manifolds 139
5.5 The dynamic criterion for quasi-isometry 141
5.5.1 Application: Comparing uniform lattices 146
5.6 Quasi-isometry invariants 148
5.6.1 Quasi-isometry invariants 148
5.6.2 Geometric properties of groups and rigidity 150
5.6.3 Functorial quasi-isometry invariants 151
5.E Exercises 156
Part III Geometry of groups 165
A Appendix 319
A.1 The fundamental group 320
A.1.1 Construction and examples 320
A.1.2 Covering theory 322
A.2 Group (co)homology 325
A.2.1 Construction 325
A.2.2 Applications 327
A.3 The hyperbolic plane 329
A.3.1 Construction of the hyperbolic plane 329
A.3.2 Length of curves 330
A.3.3 Symmetry and geodesics 332
A.3.4 Hyperbolic triangles 341
A.3.5 Curvature 346
A.3.6 Other models 347
A.4 An invitation to programming 349
Bibliography 353
Index 373
1
Introduction
Groups are an abstract concept from algebra, formalising the study of sym-
metries of various mathematical objects.
What is geometric group theory? Geometric group theory investigates the
interaction between algebraic and geometric properties of groups:
Can groups be viewed as geometric objects and how are geometric and
algebraic properties of groups related?
More generally: On which geometric objects can a given group act in
a reasonable way, and how are geometric properties of these geometric
objects/actions related to algebraic properties of the group?
How does geometric group theory work? Classically, group-valued invari-
ants are associated with geometric objects, such as, e.g., the isometry group
or the fundamental group. It is one of the central insights leading to geometric
group theory that this process can be reversed to a certain extent:
1. We associate a geometric object with the group in question; this can
be an “artificial” abstract construction or a very concrete model space
(such as the Euclidean plane or the hyperbolic plane) or an action from
classical geometric theories.
2. We take geometric invariants and apply these to the geometric objects
obtained by the first step. This allows us to translate geometric terms
such as geodesics, curvature, volumes, etc. into group theory.
Usually, in this step, in order to obtain good invariants, one restricts
attention to finitely generated groups and takes geometric invariants
from large scale geometry (as they blur the difference between different
finite generating sets of a given group).
3. We compare the behaviour of such geometric invariants of groups with
the algebraic behaviour, and we study what can be gained by this sym-
biosis of geometry and algebra.
2 Introduction
Z Z Z Z Z
Why study geometric group theory? On the one hand, geometric group
theory is an interesting theory combining aspects of different fields of math-
ematics in a cunning way. On the other hand, geometric group theory has
numerous applications to problems in classical fields such as group theory,
Riemannian geometry, topology, and number theory.
For example, free groups (an a priori purely algebraic notion) can be char-
acterised geometrically via actions on trees; this leads to an elegant proof of
the (purely algebraic!) fact that subgroups of free groups are free.
Further applications of geometric group theory to algebra and Riemannian
geometry include the following:
Introduction 3
elementary amenable
solvable
polycyclic
ps
ou
gr
nilpotent
le
ab
en
am
Abelian
finite groups
1 Z ?!
free
no
n-
po
hyperbolic
sit
ive
ly
CAT(0)
cu
rv
ed
gr
ou
ps
Recognising that certain matrix groups are free groups; there is a geo-
metric criterion, the ping-pong lemma, that allows us to deduce freeness
of a group by looking at a suitable action (not necessarily on a tree).
Recognising that certain groups are finitely generated; this can be done
geometrically by exhibiting a good action on a suitable space.
Establishing decidability of the word problem for large classes of groups;
for example, Dehn used geometric ideas in his algorithm solving the
word problem in certain geometric classes of groups.
Recognising that certain groups are virtually nilpotent; Gromov found a
characterisation of finitely generated virtually nilpotent groups in terms
of geometric data, more precisely, in terms of the growth type.
Proving non-existence of Riemannian metrics satisfying certain cur-
vature conditions on certain smooth manifolds; this is achieved by
4 Introduction
g1 (g2 g3 ) = (g1 g2 ) g3 .
Z !Z
x7 !n x
ker ϕ := fg 2 G j ϕ(g) = eg
im ϕ := fϕ(g) j g 2 Gg
of H is the image of ϕ.
12 2. Generating groups
Example 2.1.8 (Symmetric groups). Let X be a set. Then the set SX of all
bijections of type X ! X is a group with respect to composition of maps,
the symmetric group over X. If n 2 N, then we abbreviate Sn := Sf1,...,ng . If
jXj 3, the group SX is not Abelian.
fg : G ! G
x 7 ! g x.
f : G ! SG
g 7 ! fg
In more conceptual language, these examples are all instances of the follow-
ing general principle: If X is an object in a category C, then the set AutC (X)
of C-isomorphisms of type X ! X is a group with respect to composition
in C. We will now explain this in more detail:
of morphisms.
These data have to satisfy the following conditions:
14 2. Generating groups
The notion of categories contains all the ingredients necessary to talk about
isomorphisms and automorphisms:
X !X
x7 !x
is the identity morphism of X in Set. Objects in Set are isomorphic if and only
if they have the same cardinality and for all sets X the symmetric group SX
coincides with AutSet (X).
Example 2.1.21 (Algebra). The category Group of groups consists of:
Objects: Let Ob(Group) be the class of all groups.
Morphisms: For groups G and H we let MorGroup (G, H) be the set of
all group homomorphisms.
Compositions: As compositions we choose ordinary composition of
maps.
Analogously, one also obtains the category Ab of Abelian groups, the cate-
gory VectR of R-vector spaces, the category R Mod of left R-modules over a
ring R, . . . Objects in Group, Ab, VectR , R Mod, . . . are isomorphic in the
sense of category theory if and only if they are isomorphic in the algebraic
sense. Moreover, both the category-theoretic and the algebraic point of view
result in the same automorphism groups.
Example 2.1.22 (Geometry of isometric embeddings). The category Metisom of
metric spaces and isometric embeddings consists of:
Objects: Let Ob(Metisom ) be the class of all metric spaces.
Morphisms in Metisom are isometric embeddings (i.e., distance preserv-
ing maps) of metric spaces.
The compositions are given by ordinary composition of maps.
Then objects in Metisom are isomorphic if and only if they are isometric and
automorphism groups in Metisom are nothing but isometry groups of metric
spaces.
16 2. Generating groups
π : G ! G/N
g7 !g N
G
ϕ
/H
=
π
ϕ
G/N
g1 N = g 1 N, and g2 N = g 2 N.
(g 1 g 2 ) N = (g1 n1 g2 n2 ) N
= (g1 g2 (g2 1 n1 g2 ) n2 ) N
= (g1 g2 ) N ;
ϕ : G/N ! H
g N 7 ! ϕ(g)
S _
ϕ
/G
?
ϕ
F
The term “universal property” obliges us to prove that objects having this
universal property are unique in an appropriate sense; moreover, we will see
below (Theorem 2.2.7) that for every set there indeed exists a group freely
generated by the given set.
G
ein- mal hin ein- mal her
G
rund-he- rum, das ist nicht schwer
Figure 2.1.: Uniqueness of universal objects; Brüderchen, komm tanz mit mir
(German folk song: Little brother dance with me). Literal trans-
lation of the song text displayed above: once to, once from, all
around, that is not hard.
ϕ0
S _ / F0 S _
ϕ
/F
> >
ϕ ϕ0
ϕ0 ϕ
F F0
S _
ϕ
/F
?
ϕ
ϕ ϕ0
F
22 2. Generating groups
Theorem 2.2.7 (Free groups, existence). Let S be a set. Then there exists a
group freely generated by S. (By the previous proposition, this group is unique
up to isomorphism.)
A := S [ S,
b
F (S) := A / ,
I(sx) := I(x)b
s,
sx) := I(x)s
I(b
for all x 2 A (in the last step we use the definition of ). Therefore, also
ε 7 ! e,
sx 7 ! ϕ(s) ϕ (x),
1
sbx 7 ! ϕ(s) ϕ (x)
ϕ : F (S) ! G
[x] 7 ! [ϕ (x)],
Corollary 2.2.8. Let F be a free group, and let S be a free generating set of F .
Then S generates F .
Proof. By construction, the statement holds for the free group F (S) gener-
ated by S constructed in the proof of Theorem 2.2.7. In view of the uniqueness
result Proposition 2.2.6, we find an isomorphism F (S) = F that is the iden-
tity on S. Hence, it follows that the given free group F is also generated
by S.
Proof. The first part can be derived from the universal property of free groups
(mapping to Z/2) together with a counting argument (Exercise 2.E.12). The
second part is a consequence of the first part.
Caveat 2.2.11. While subspaces of vector spaces cannot have bigger dimen-
sion than the ambient space, free groups of rank 2 contain subgroups that are
isomorphic to free groups of higher rank, even free subgroups of (countably)
infinite rank. Subgroups of this type can easily be constructed via covering
theory [115, Chapter VI.8] or via actions on trees (Chapter 4.2.3).
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of the eastern coast, if I remember right; their chawats here are often
absurdly small, not even answering the purpose for which they are
intended: one or two have head-dresses of bark, ornamented with
little cowrie-shells, the breadth being sometimes five inches, differing
from the padded helmets we saw on the wax seekers; heavy
necklaces of beads are worn by the men as well as by the women; a
few of the young girls have petticoats composed entirely of beads,
on a groundwork of cloth or perhaps bark.
As I have advanced into the country I have noticed many
clearings on the ridges of the highest hills—perhaps fifty yards in
length. It is in these places that the bones of their chief men rest. As
far as I understand their ways, they place the corpse in a sort of box,
fashioned sometimes like the body of a deer, or what a Murut fancies
is a resemblance, until all the flesh is dissolved from the bones;
these are then placed in a jar, and left on the lofty spots I have
mentioned. I noticed many of these jars in my forced march from
Molu, above the sites of the old Tabun villages, and to the intense
disgust of my guide they were found broken, and the skulls extracted
by the marauding Kayans.
I lately, also, discovered one near my house with the bones nearly
dissolved. It was most probably buried there before the Borneans
turned Mahomedans, as no Muruts have lived on the hills near the
capital since, at least so says tradition. It was found a couple of
hundred yards from the site of the old East India Company’s factory,
which was abandoned about eighty or ninety years ago. The poor
men are said to have their bones buried, while the chiefs have theirs
added to those of their ancestors. I hear the Millanaus follow a
custom somewhat similar. When a chief dies, they place the body in
a shed with a raised floor, and cover it over with sand: they leave it
there, till all the dissolvable parts have run through the open flooring,
and when the remains are perfectly dry, they collect and place them
in a jar. All the relations and friends are then summoned, and they
feast and rejoice for seven days.
I have procured some honey to-day, as I strongly suspect I shall
have little but plain boiled rice to live on during the journey back.
CHAPTER VI.
MY LIMBANG JOURNAL—Continued.