Bourbaki

§ 4. Homotopy and coverings

1. Homotopy and coverings

Proposition 1 01Z5

Let B be a topological space and let E be a covering of B. Let B′B' be a topological space and let f0f_0 and f1f_1 be continuous mappings of B′B' into B. If the mappings f0f_0 and f1f_1 are homotopic, the coverings f0∗(E)f_0^*(E) and f1∗(E)f_1^*(E) of B′B' are isomorphic.

Let σ:B′×I→B\sigma : B'\times \mathbf{I}\rightarrow B be a homotopy joining f0f_0 to f1f_1. Let us denote by i0i_0 and i1i_1 the mappings x↦(x,0)x\mapsto (x,0) and x↦(x,1)x\mapsto (x,1) of B′B' into B′×IB'\times \mathbf{I}. If t∈{0,1}t\in \{0,1\}, we have ft=σ∘itf_t=\sigma \circ i_t and the coverings ft∗(E)f_t^*(E) and it∗(σ∗(E))i^*_t(\sigma^*(E)) of B′B' are therefore isomorphic (I, p. 15). Since the topological space I\mathbf{I} is locally connected and simply connected (I, p. 127, corollary), the coverings i0∗(σ∗(E))i^*_0(\sigma^*(E)) and i1∗(σ∗(E))i^*_1(\sigma^*(E)) of B′B' are isomorphic (I, p. 130, cor. 1 of prop. 8).

Corollary 01Z6

A topological space homotopic to a simply connected topological space is simply connected.

Let B and B′B' be topological spaces, let f:B→B′f: B\rightarrow B' be a homotopy equivalence and let g:B′→Bg: B'\rightarrow B be a continuous mapping, inverse to ff up to homotopy. Let E be a covering of B. Since g∘fg\circ f is homotopic to the identity mapping of B, the covering E is isomorphic to the covering f∗(g∗(E))f^*(g^*(E)) (prop. 1). If the space B′B' is simply connected, the covering g∗(E)g^*(E) is trivializable. Consequently, the covering E is trivializable. This proves that the space B is simply connected.

Remark 01Z7

Let G be a discrete topological group. With the notation of the proposition, suppose that E is a principal covering with group G. Then the coverings f0∗(E)f_0^*(E) and f1∗(E)f_1^*(E) are isomorphic principal coverings (I, p. 131, remark).

Proposition 2 (Lifting of homotopies) 01Z8

Let B be a topological space and let E be a covering of B. Let B′B' be a topological space and let f0f_0 and f1f_1 be continuous mappings of B′B' into B. Let σ:B′×\sigma : B'\times I→B\mathbf{I}\rightarrow B be a homotopy joining f0f_0 to f1f_1. Let g0:B′→Eg_0: B'\rightarrow E be a continuous lifting of f0f_0 to E. There exists a unique continuous mapping σ~:B′×I→\widetilde{\sigma}: B'\times \mathbf{I}\rightarrow E lifting σ\sigma which is a homotopy with initial term g0g_0. Its term g1:B′→Eg_1: B'\rightarrow E is a continuous lifting of f1f_1 to E.

This follows from corollary 3 of prop. 8 of I, p. 130, applied to the simply connected and locally connected topological space I\mathbf{I}.

2. Lifting of paths

Proposition 3 01Z9

Let B be a topological space and let p:E→Bp: E\rightarrow B be a covering. Let us denote by p~:Cc(I;E)→Cc(I;B)\widetilde{p}:\mathscr{C}_c(\mathbf{I}; E)\rightarrow \mathscr{C}_c(\mathbf{I}; B) the mapping c↦p∘cc\mapsto p\circ c. Let us denote by oE:Cc(I;E)→Eo_E:\mathscr{C}_c(\mathbf{I}; E)\rightarrow E ( resp. oB:Cc(I;B)→Bo_B:\mathscr{C}_c(\mathbf{I}; B)\rightarrow B) the mapping defined by c↦c(0)c\mapsto c(0). Then, the diagram

Cc(I;E)oE\mathscr{C}_c(\mathbf{I}; E)^{o_E} E

p~p\widetilde{p}p

Cc(I;B)oB\mathscr{C}_c(\mathbf{I}; B)^{o_B} B is a cartesian square.

The topological space I\mathbf{I} is locally connected, locally compact and simply connected. The proposition thus follows from prop. 9 of I, p. 131, applied with T=IT =\mathbf{I} and t=0t= 0.

Corollary 1 01ZA

The mapping p~:Cc(I;E)→Cc(I;B)\widetilde{p}:\mathscr{C}_c(\mathbf{I}; E)\rightarrow \mathscr{C}_c(\mathbf{I}; B) is a covering.

This follows from I, p. 71, cor. 2 of prop. 1.

Corollary 2 (Lifting of paths) 01ZB

Let p:E→Bp: E\rightarrow B be a covering, let xx be a point of E and a=p(x)a=p(x). The mapping c↦p∘cc\mapsto p\circ c is a homeomorphism of the space Λx(E)\Lambda_x(E) of paths in E with origin xx onto the space Λa(B)\Lambda_a(B) of paths in B with origin aa.

With the notation of proposition 3, we have Λa(B)=oB−1(a)\Lambda_a(B) =o^{-1}_B(a) and Λx(E)=oE−1(x)\Lambda_x(E) =\overset{-1}{o_{E}}(x). The corollary then follows from I, p. 10, cor. of prop. 4.

We shall say that a continuous mapping p:E→Bp: E\rightarrow B satisfies the path-lifting property if, for every path c:I→c:\mathbf{I}\rightarrow B and every point xx of E lying over c(0)c(0), there exists a path c′c' in E with origin xx which lifts cc. Such a path is then unique if pp is étale and separated (I, p. 34, cor. 1 of prop. 11). Let E be a covering and pp its projection; the mapping pp is étale, separated and has the path-lifting property (corollary 2). For a partial converse, cf. III, p. 315, corollary.

Proposition 4 01ZC

Let p:E→Bp: E\rightarrow B be an étale and separated mapping which satisfies the path-lifting property. Let aa and bb be points of B and let xx be a point of E such that p(x)=ap(x) =a. Let c0c_0 and c1c_1 be two strictly homotopic paths joining aa to bb in B. The paths with origin xx in E which lift respectively c0c_0 and c1c_1 have the same term and are strictly homotopic.

Let σ:I×I→\sigma :\mathbf{I}\times \mathbf{I}\rightarrow B be a strict homotopy joining c0c_0 to c1c_1. For s∈Is\in \mathbf{I}, let cs′c'_s be the unique path with origin xx in E which lifts the path t↦σ(t,s)t\mapsto \sigma (t, s). For (t,s)∈I×I(t, s)\in \mathbf{I}\times \mathbf{I}, put σ′(t,s)=cs′(t)\sigma '(t, s) =c'_s(t); we have p∘σ′=σp\circ \sigma '=\sigma. The mapping σ′\sigma ' is constant on {0}×I\{0\} \times \mathbf{I}; by construction, it is continuous on I×{s}\mathbf{I}\times \{s\} for every s∈Is\in \mathbf{I}. It is therefore continuous, by I, p. 37, cor. 1 of th. 1. In particular, the mapping from I\mathbf{I} into EbE_b defined by s↦σ′(1,s)s\mapsto \sigma '(1, s) is a continuous lifting of the constant path with image bb; it is therefore constant. This proves that the mapping σ′\sigma ' is a strict homotopy joining c0′c'_0 to c1′c'_1.

Corollary 1 01ZD

Let B be a topological space and let E be a covering of B; let us denote by pp its projection. For every pair (x,y)(x, y) of points of E, the mapping ϖx,y(p):ϖx,y(E)→ϖp(x),p(y)(B)\varpi_{x,y}(p):\varpi_{x,y}(E)\rightarrow \varpi_{p(x),p(y)}(B) is injective. In particular, for every point xx of E, the homomorphism π1(p,x):π1(E,x)→π1(B,p(x))\pi_1(p, x):\pi_1(E, x)\rightarrow \pi_1(B, p(x)) is injective.

Corollary 2 01ZE

Let B be a topological space and let E be a covering of B; let us denote by pp its projection. Let xx be a point of E, and put b=p(x)b=p(x). In order that the class in π1(B,b)\pi_1(B, b) of a loop cc in B at aa should belong to the image subgroup of the homomorphism π1(p,x)\pi_1(p, x), it is necessary and sufficient that the path c′c' with origin xx lifting cc should be a loop of E at xx.

The condition is obviously sufficient. Conversely, let c1′c'_1 be a loop of E at xx. Put c1=p∘c1′c_1=p\circ c'_1 and suppose that the loops cc and c1c_1 are strictly homotopic. By Prop. 4, the path c′c' has the same end point as the path c1′c'_1. It is therefore a loop at xx.

Corollary 3 01ZF

Let B be a topological space and let (E1,p1)(E_1, p_1) and (E2,p2)(E_2, p_2) be coverings of B. Let us denote by (E,p)(E, p) their fibre product over B, and let x=(x1,x2)x= (x_1, x_2) be a point of E. The image of the homomorphism π1(p,x)\pi_1(p, x) is the intersection of the images of the homomorphisms π1(p1,x1)\pi_1(p_1, x_1) and π1(p2,x2)\pi_1(p_2, x_2).

Let cc be a loop in B at p1(x1)=p2(x2)p_1(x_1) =p_2(x_2) and, for i∈{1,2}i\in \{1,2\}, let ci′c'_i be the path with origin xix_i in EiE_i lifting cc. The fibre product over B E=E1×BE2E = E_1\times_BE_2 is a covering of B (I, p. 72, cor. 3 of Prop. 2), and the path c′:t↦c':t\mapsto (c1′(t),c2′(t))(c'_1(t), c'_2(t)) is the unique path with origin xx in E which lifts cc. In order that c′c' should be a loop, it is necessary and sufficient that c1′c'_1 and c2′c'_2 should be so. Corollary 3 thus follows from Corollary 2.

3. Operations of the Poincaré groupoid in coverings

Let B be a topological space and let p:E→p: E\rightarrow B be an etale and separated mapping satisfying the path-lifting property (III, p. 302); this is the case if the mapping pp makes E a covering of B (loc. cit.). Let bb and b′b' be points of B and let c∈Λb,b′(B)c\in \Lambda_{b,b'}(B) be a path in B joining bb to b′b'. For every point xx of the fibre EbE_b, let us denote by x⋅cx\cdot c the term of the path with origin xx in E which lifts cc. The point x⋅cx\cdot c belongs to the fibre Eb′E_{b'} and depends only on the class γ∈ϖb,b′(B)\gamma \in \varpi_{b,b'}(B) of the path c(c(III, p. 302, prop. 4); we shall thus write x⋅γx\cdot \gamma instead of x⋅cx\cdot c.

If cc is the constant path at bb, one has x⋅γ=xx\cdot \gamma =x because the constant path with origin xx lifts cc.

Let b′′b'' be another point of B and let c′∈Λb′,b′′(B)c'\in \Lambda_{b',b''}(B). For every point xx of EbE_b, one has:

(x⋅c)⋅c′=x⋅(c∗c′)(1) (x\cdot c)\cdot c'=x\cdot (c*c') \tag{1}

In fact, let c~\widetilde{c} denote the lift of cc with origin xx and c~′\widetilde{c}' the lift of c′c' with origin x⋅c=c~(1)x\cdot c=\widetilde{c}(1). The paths c~\widetilde{c} and c~′\widetilde{c}' can be juxtaposed and c~∗c~′\widetilde{c}*\widetilde{c}' is the path with origin xx lifting c∗c′c*c'.

Let us denote by φb,b′:ϖb,b′(B)→F(Eb;Eb′)\varphi_{b,b'}:\varpi_{b,b'}(B)\rightarrow \mathscr{F}(E_b; E_{b'}) the mapping such that, for γ∈ϖb,b′(B)\gamma \in \varpi_{b,b'}(B) and x∈Ebx\in E_b, one has

φb,b′(γ)(x)=x⋅γ \varphi_{b,b'}(\gamma )(x) =x\cdot \gamma

For every γ∈ϖb,b′(B)\gamma \in \varpi_{b,b'}(B) and every γ′∈ϖb′,b′′(B)\gamma '\in \varpi_{b',b''}(B), it follows from relation (1) that one has

φb,b′′(γγ′)=φb′,b′′(γ′)∘φb,b′(γ)(2) \varphi_{b,b''}(\gamma \gamma ') =\varphi_{b',b''}(\gamma ')\circ \varphi_{b,b'}(\gamma ) \tag{2}

The family φ=(φb,b′)(b,b′)∈B×B\varphi = (\varphi_{b,b'})_{(b,b')\in B\times B} therefore defines a law of right operation of the groupoid ϖ(B)\varpi (B) on the set E relative to the mapping p:E→p: E\rightarrow B (II, p. 167). It is called the canonical operation of the groupoid ϖ(B)\varpi (B) associated with the mapping p:E→Bp: E\rightarrow B. The mapping φb,b:π1(B,b)→F(Eb;Eb)\varphi_{b,b}:\pi_1(B, b)\rightarrow \mathscr{F}(E_b; E_b) defines a law of right operation of the group π1(B,b)\pi_1(B, b) on the fibre EbE_b of E. This operation is called the canonical operation of π1(B,b)\pi_1(B, b) on the fibre EbE_b.

Remark 01ZG

Let bb and b′b' be two points of B,x,x a point of Eb,c∈E_b,c\in Λb,b′(B)\Lambda_{b,b'}(B) a path in B and c~\widetilde{c} the path in E originating at xx which lifts cc. For every s∈Is\in \mathbf{I}, let us denote by csc_s the path t↦c(st)t\mapsto c(st); the path in E originating at xx which lifts csc_s is the path t↦c~(st)t\mapsto \widetilde{c}(st) whose term is the point c~(s)\widetilde{c}(s). We have therefore c~(s)=x⋅cs\widetilde{c}(s) =x\cdot c_s for every s∈Is\in \mathbf{I}.

Let B′B' be a topological space and let p′:E′→B′p': E'\rightarrow B' be an étale and separated mapping satisfying the path lifting property. Let f:B→B′f: B\rightarrow B' and g:E→E′g: E\rightarrow E' be continuous mappings such that p′∘g=f∘pp'\circ g=f\circ p. For b,b′∈B,γ∈ϖb,b′(B)b,b'\in B,\gamma \in \varpi_{b,b'}(B) and x∈Ebx\in E_b, we have:

g(x⋅γ)=g(x)⋅f∗(γ)(3) g(x\cdot \gamma ) =g(x)\cdot f_*(\gamma ) \tag{3}

In fact, let cc be a path in B whose strict homotopy class is γ\gamma, and let us denote by c~\widetilde{c} the path in E originating at xx which lifts cc; the path g∘c~g\circ \widetilde{c} is then the lift originating at g(x)g(x) of f∘cf\circ c in E′E'.

In particular, for B=B′B = B' and f=f= IdB_B, we have

g(x⋅γ)=g(x)⋅γ(4) g(x\cdot \gamma ) =g(x)\cdot \gamma \tag{4}

Let p:E→Bp: E\rightarrow B and p′:E′→Bp': E'\rightarrow B be étale and separated mappings satisfying the path lifting property. Let bb be a point of B. If f:E→E′f: E\rightarrow E' is a B-morphism, the mapping fb:Eb→Eb′f_b: E_b\rightarrow E'_b is a π1(B,b)\pi_1(B, b)-morphism.

Theorem 1 01ZH

Let B be a topological space, let (E,p)(E, p) be a covering of B, let bb be a point of B and let xx be a point of the fibre EbE_b.

a) The orbit of xx for the canonical operation of the group π1(B,b)\pi_1(B, b) is the intersection of EbE_b and the arcwise connected component of xx in E. In particular, if the space E is arcwise connected, this operation is transitive.

b) The stabilizer (A, I, p. 51) of xx is the subgroup p∗(π1(E,x))p_*(\pi_1(E, x)) of π1(B,b)\pi_1(B, b).

c) For every γ∈π1(B,b)\gamma \in \pi_1(B, b), we have p∗(π1(E,x))=p_*(\pi_1(E, x)) = Int(γ\gamma )(p∗(π1(E,x⋅(p_*(\pi_1(E, x\cdot γ)))\gamma ))).

d) If the space B is connected and the covering E is Galois, the subgroup p∗(π1(E,x))p_*(\pi_1(E, x)) is normal in π1(B,b)\pi_1(B, b).

Assertion a) is immediate. Assertion b) follows from Cor. 2 of Prop. 4 (III, p. 303). Assertion c) follows from b) and from Proposition 2 of A, I, p. 52. Finally, suppose that B is connected and that E is a Galois covering of B. For every γ∈π1(B,b)\gamma \in \pi_1(B, b), there exists a B-automorphism gg of E such that g(x)=x⋅γ(g(x) =x\cdot \gamma (I, p. 102, th. 2, c)). We have p=p∘gp=p\circ g, whence p∗(π1(E,x))=p∗(π1(E,x⋅γ))p_*(\pi_1(E, x)) =p_*(\pi_1(E, x\cdot \gamma )). Assertion d) therefore follows from c).

4. Case of coverings associated with a principal covering

Let B be a topological space, let G be a discrete topological group, and let E be a principal covering of B with group G. Let us denote by pp the projection of the B-space E. Let bb be a point of B and let xx be a point of EbE_b.

Proposition 5 01ZI

The mapping h(E,x)h_{(E,x)} of π1(B,b)\pi_1(B, b) into G which, to γ∈\gamma \in π1(B,b)\pi_1(B, b), associates the unique element gg of G such that x⋅g=x⋅γ−1x\cdot g=x\cdot \gamma^{-1}, is a group homomorphism, whose kernel is the subgroup p∗(π1(E,x))p_*(\pi_1(E, x)) of π1(B,b)\pi_1(B, b). If E is connected, this homomorphism is surjective.

For every g∈Gg\in G, one has h(E,x⋅g)=h_{(E,x\cdot g)}= Int(g−1g^{-1})∘h(E,x)\circ h_{(E,x)}.

Let E be a principal covering of B with group G, let xx be a point of EbE_b, and let us denote by pp the projection of E. For every g∈Gg\in G, the mapping y↦y⋅gy\mapsto y\cdot g is a B-automorphism of E. Hence, for every g∈Gg\in G, every y∈Eby\in E_b, and every γ∈π1(B,b)\gamma \in \pi_1(B, b), one has the relation (y⋅g)⋅γ=(y⋅γ)⋅g((y\cdot g)\cdot \gamma = (y\cdot \gamma )\cdot g(cf. III, p. 305, relation (4)). Consequently, for γ,δ∈π1(B,b)\gamma , \delta \in \pi_1(B, b), one has

x⋅h(E,x)(γδ)=x⋅δ−1γ−1 x\cdot h_{(E,x)}(\gamma \delta ) =x\cdot \delta^{-1}\gamma^{-1}
=(x⋅h(E,x)(δ))⋅γ−1 = (x\cdot h_{(E,x)}(\delta ))\cdot \gamma^{-1}
=(x⋅γ−1)⋅h(E,x)(δ) = (x\cdot \gamma^{-1})\cdot h_{(E,x)}(\delta )
=x⋅h(E,x)(γ)h(E,x)(δ) =x\cdot h_{(E,x)}(\gamma )h_{(E,x)}(\delta )

which proves that h(E,x)h_{(E,x)} is a group homomorphism.

Its kernel is the stabilizer of xx for the canonical operation of π1(B,b)\pi_1(B, b), hence is equal to p∗(π1(E,x))p_*(\pi_1(E, x)) by Theorem 1 of III, p. 305. The mapping g↦x⋅gg\mapsto x\cdot g is a bijection of G onto EbE_b. The image of the homomorphism h(E,x)h_{(E,x)} is therefore the set of g∈Gg\in G such that x⋅gx\cdot g belongs to the orbit of xx for this operation. If E is connected, π1(B,b)\pi_1(B, b) operates transitively on Eb(E_b(loc. cit.) and the homomorphism h(E,x)h_{(E,x)} is surjective.

Let g∈Gg\in G; for every γ∈π1(B,b)\gamma \in \pi_1(B, b), one has

x⋅gh(E,x⋅g)(γ)=(x⋅g)⋅γ−1=(x⋅γ−1)⋅g=x⋅h(E,x)(γ)g x\cdot gh_{(E,x\cdot g)}(\gamma ) = (x\cdot g)\cdot \gamma^{-1}= (x\cdot \gamma^{-1})\cdot g=x\cdot h_{(E,x)}(\gamma )g

whence h(E,x⋅g)(γ)=g−1h(E,x)(γ)gh_{(E,x\cdot g)}(\gamma ) =g^{-1}h_{(E,x)}(\gamma )g. This completes the proof of the proposition.

Example 1 01ZJ

Let F be a discrete set endowed with an operation of G, and let X=E×GFX = E\times^GF be the associated covering of B. Let us denote by φ:E×F→X\varphi : E\times F\rightarrow X the canonical B-morphism. It is a morphism of coverings. For every γ∈π1(B,b)\gamma \in \pi_1(B, b) and every f∈Ff\in F, one then has

(5)

φ(x,f)⋅γ=φ(x⋅γ,f)=φ(x⋅h(E,x)(γ)−1,f)=φ(x,h(E,x)(γ−1)⋅f) \varphi (x, f)\cdot \gamma =\varphi (x\cdot \gamma , f) =\varphi (x\cdot h_{(E,x)}(\gamma )^{-1}, f) =\varphi (x, h_{(E,x)}(\gamma^{-1})\cdot f)

If one identifies F with XbX_b by the bijective mapping f↦φ(x,f)f\mapsto \varphi (x, f), it follows that the right operation π1(B,b)→\pi_1(B, b)\rightarrow Aut(Xb_b)∘^{\circ} is the composite of the homomorphism h(E,x)h_{(E,x)}, the antihomomorphism g↦g−1g\mapsto g^{-1} of G into itself and the homomorphism G→G\rightarrow Aut(F) deduced from the operation of G on F.

Example 2 01ZK

Let H be a discrete topological group, let f:G→Hf: G\rightarrow H be a group morphism. Endow H with the left operation of G given by g⋅h=f(g)hg\cdot h=f(g)h, for g∈Gg\in G and h∈Hh\in H. Let E′=E×GHE'= E\times^GH be the associated covering; it is a principal covering of group H (I, p. 107, Example 6). Let us denote by q:E×H→E×GHq: E\times H\rightarrow E\times^GH the canonical mapping and put x′=q(x,e)x'=q(x, e). We have h(E′,x′)=f∘h(E,x)h_{(E',x')}=f\circ h_{(E,x)}.

In fact, let cc be a loop at bb in B, let γ\gamma be its class in π1(B,b)\pi_1(B, b) and let g=h(E,x)g=h_{(E,x)}; one has therefore x⋅γ=x⋅g−1x\cdot \gamma =x\cdot g^{-1}. Let c~\widetilde{c} be a path with origin xx in E; then t↦q(c~(t),e)t\mapsto q(\widetilde{c}(t), e) is a path with origin x′x' in E′E' which lifts the path p∘c~p\circ \widetilde{c} in B, so that

x′⋅γ=q(x⋅γ,e)=q(x⋅g−1,e)=q(x,f(g)−1)=q(x,e)⋅f(g)−1 x'\cdot \gamma =q(x\cdot \gamma , e) =q(x\cdot g^{-1}, e) =q(x, f(g)^{-1}) =q(x, e)\cdot f(g)^{-1}

which proves that h(E′,x′)(γ)=f(g)h_{(E',x')}(\gamma ) =f(g).

Exercises

See the exercises for § 4.

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