§ 3. Poincaré groups of topological groups
1. Extension of local group homomorphisms
Definition 1 021M
Given a topological group G and a group , a local homomorphism of G into means a mapping of a neighbourhood V of the identity element of G into such that, for every pair of points of V such that , one has .
If is a topological group and if is a continuous mapping, one says that is a continuous local homomorphism (or local morphism of topological groups).
If G and are topological groups, the notion of local isomorphism of G onto has been defined (TG, III, p. 6, Def. 2). A local isomorphism of G onto is a homeomorphism of a neighbourhood V of the identity element of G onto a neighbourhood of the identity element of such that and the inverse mapping of are local homomorphisms.
Proposition 1 021N
Let G and be topological groups and let be a group homomorphism. In order that should make G a covering of , it is necessary and sufficient that the restriction of to a suitable neighbourhood of the identity element of G should be a local isomorphism of G onto .
The condition is necessary by Proposition 3 of TG, III, p. 6. Conversely, suppose that induces a homeomorphism of an open neighbourhood V of the identity element of G onto a neighbourhood of the identity element of . The mapping is then continuous (TG, III, p. 15, Prop. 23) and open (TG, III, p. 16, Prop. 24). The image H of is a subgroup of containing V, hence open and closed in (TG, III, p. 7, Corollary). Let N be the kernel of ; one has , therefore N is discrete (loc. cit., Prop. 5). Consequently, makes G a principal covering of H, with group N (I, p. 100, Cor. 3 of Th. 1). Since H is open and closed in , the -space is a covering.
Proposition 2 021O
Let G be a connected topological group, let be a group and let be a local homomorphism of G into , where V is a connected neighbourhood of the identity element of G. Then there exist a connected topological group H, a morphism of topological groups such that is a covering of G, and a group homomorphism such that the set of satisfying is a neighbourhood of the identity element in H.
If is a topological group and if the mapping is continuous, such a homomorphism is continuous.
Lemma 1 021P
Let G be a topological group and let V be a connected neighbourhood of the identity element of G. For every neighbourhood U of in G and every , there exist an integer and elements in U such that and for every integer such that .
One may suppose that U is open and contained in V. Let A denote the set of satisfying the condition of the lemma. If and if , then , whence AU ; this shows that A is open in V. Let be such that ; then one has AU, hence . Consequently, if and and A is closed in V. Since and V is connected, it follows that A = V.
Let us now prove the proposition. Let be the mapping of V into and let H be the subgroup of generated by .
Let U be a neighbourhood of in G, contained in V. Let ; by lemma 1, there exist such that and such that for every integer such that . By induction, one has for every integer . In particular, belongs to the subgroup generated by . It follows that H is generated by .
Let be the set of subsets of H of the form , where U is a neighbourhood of in V. Let us show that there exists a unique topology on H, compatible with its group structure, for which is a base of the filter of neighbourhoods of the identity element. For this, it is enough to prove that the set satisfies conditions (GV), (GV) and (GV) of III, p. 4.
Let therefore U be a neighbourhood of in G, contained in V; there exists a neighbourhood of such that . For every pair of points of , one has and . Hence and . This shows that condition (GV) is satisfied.
The set is then a neighbourhood of in V and, for , one has and . Hence , which shows condition (GV).
Finally, let us fix a neighbourhood U of in V such that and . Let W be a neighbourhood of in U and let be an element of . There exists a neighbourhood of contained in W such that . Then and , for one has , for .
Let . Since U is a neighbourhood of contained in V generates H; since U is symmetric, there exist elements in U such that . By induction on , there exists a neighbourhood of contained in W such that . Consequently, condition (GV) is satisfied.
Let us then endow the group G with this topology.
Let us denote by G the restriction to H of the first projection . This is a group homomorphism. For every neighbourhood U of contained in V, the set contains the neighbourhood of the identity element of H; hence is a continuous homomorphism of topological groups. For every neighbourhood U of contained in V, one has , hence is an open mapping. Since G is connected, is surjective. Its kernel is discrete because it meets only in the identity element. It then follows from Corollary 3 (I, p. 100) that the G-space is a covering.
Let be the restriction to H of the second projection . If , one has and , so that for .
Suppose moreover that is a topological group and that the mapping is continuous at . Then the homomorphism is continuous at the identity element of H, and hence is continuous (TG, III, p. 15, Prop. 23).
Corollary 1 021Q
Let G be a simply connected topological group and let be a group. Let V be a connected neighbourhood of the identity element in G and let be a local homomorphism. There exists a unique group homomorphism extending . If is a topological group and if the mapping is continuous, the homomorphism is continuous.
The group G is connected. Let H and be as in proposition 2. Since G is simply connected, H is a trivializable covering of G (I, p. 124, def. 3); since H is connected and nonempty, the mapping is an isomorphism of topological groups. Put ; the mapping is a group homomorphism and there exists an open neighbourhood U of the identity element of G contained in V such that . It follows from lemma 1 that and coincide on V. In other words, the mapping extends the mapping .
If is a topological group and if the mapping is continuous, the homomorphism is continuous, hence so is .
Let us prove the uniqueness of such an extension. The set of points of G where two homomorphisms of G into coincide is a subgroup of G. Since the group G is connected, every subgroup of G containing a neighbourhood of the identity element is equal to G (TG, III, p. 8, prop. 6). The uniqueness of follows.
Remark 1 021R
When , this corollary follows from proposition 6 of TG, V, p. 3.
Corollary 2 021S
Two locally connected and simply connected topological groups which are locally isomorphic are isomorphic.
Let G and be locally connected topological groups, let V and be connected neighbourhoods of the identity element of G and of respectively, and let be a homeomorphism which is a local isomorphism of G onto . By corollary 1, there exists a unique continuous group homomorphism extending and a unique continuous group homomorphism G extending . The homomorphisms and Id coincide on a neighbourhood of in G, hence are equal, since G is connected. Analogously, Id, whence the corollary.
Corollary 3 021T
Let G be a simply connected topological group and let V be a connected neighbourhood of the identity element of G. One defines a presentation of G by taking as generator set the set V and as set of relations the family of the , where runs through the triples of elements of V such that .
Let be the quotient group of the free group F(V) by the smallest normal subgroup containing the elements , where and (A, I, p. 86). Let us denote by and the canonical mappings. By construction, the mapping is a local homomorphism of G into . By corollary 1, there exists a unique group homomorphism extending . Since the group is generated by , the homomorphism is surjective. For , one has ; since V generates G Id, which proves that is injective. It is therefore an isomorphism.
2. Hopf Spaces
Definition 2 021U
A pointed topological space endowed with a continuous law of composition is called a Hopf space, such that
(i) ;
(ii) there exist homotopies pointed at connecting the mappings and with the mapping Id.
Properties (i) and (ii) are sometimes expressed by saying that is an identity element up to homotopy for the composition law .
It should be noted that there may exist several identity elements up to homotopy for a continuous composition law on a topological space X. For example, for and , every is an identity element up to homotopy.
Example 1 021V
Let G be a topological group and its composition law. The identity element of G is an identity element up to homotopy and is a Hopf space.
Example 2 021W
Let X be a topological space and a point of X. Endowed with the juxtaposition of loops at , the pointed space is a Hopf space. In fact, first one has . On the other hand, let be the function defined by for and for (cf. III, p. 291), and let be a strict homotopy connecting with IdIII, p. 289, example). Then, for every loop , the mapping is a strict homotopy connecting with in .
Let be the mapping defined by . Let us now prove that is continuous. By proposition 1 of III, p. 257, it is enough to show that the mapping of into X is continuous, or again, since is compact, that the mapping of into is continuous. This last assertion then follows from the lemma, I, p. 132, b). Hence the mapping is a homotopy connecting the mapping with the identity mapping of . One has for all ; therefore is a homotopy pointed at . One reasons analogously for the mapping .
where denotes the relation of strict homotopy. The law of composition of the group is the homomorphism obtained by composing the canonical isomorphism (III, p. 297, corollary) and the homomorphism of into . The group is commutative.
Let be the group homomorphism obtained by composing the canonical isomorphism of onto and the homomorphism . It is to be proved that one has
for all . Taking account of Remark 2 of III, p. 297, one has:
Let be a loop of class ; let us denote by the mapping defined by ; then is the class of . By definition of a Hopf space, the mappings pointed at , and Id, have the same pointed homotopy class at . Hence the loops at , and , are strictly homotopic (III, p. 296, Cor. 1 of Prop. 3) and one has . One proves analogously that one has . Relation (1) then follows from relation (2).
Remark 021Y
Let be a Hopf space. By Prop. 3, the mapping of composition of path classes, is continuous if is endowed with the quotient topology of the topology of compact convergence on . It is in fact the composite of the continuous isomorphism (III, p. 298, Remark 3) and the continuous mapping (III, p. 294, Remark 1).
3. Poincaré Group of Topological Groups
If G is a topological group, for every , the left translation is a homeomorphism of G onto itself (TG, III, p. 2) and it induces an isomorphism of onto .
Let G be a topological group, let be its identity element and let us denote by the path-connected component of in G. Let us denote by R the equivalence relation in G whose equivalence classes are the path-connected components of G, and let be the canonical mapping. Since every translation, on the left or on the right, is a homeomorphism of G, the relation R is compatible on the left and on the right with the group law of G. By Th. 2 of A, I, p. 35, the group is a normal subgroup of G, the quotient group is equal to endowed with the quotient law of composition induced by that of G, and the mapping is a group homomorphism.
The group is called the Poincaré group of G, and is denoted by . The canonical injection of into G induces an isomorphism of onto (III, p. 293, Remark 2).
Let be an element of G; the right translation induces an isomorphism . Suppose that belongs to and let be a path joining to . The mapping defined by is a homotopy joining Id to . By prop. 3 of III, p. 295, one therefore has, for every , , where is the class of the path . If denotes the left translation, , one has analogously .
For every , the mapping Int() induces an automorphism (Int()) of . One thus defines a law of operation of G on . For every , one has (Int()) , so that the subgroup operates trivially; it follows that there is a law of operation of on . When G is a commutative group, this operation is trivial, but this is not always the case (IV, p. 459, exerc. 1).
4. Coverings of Topological Groups
Proposition 4 021Z
Let be a Hopf space (IV, p. 373, definition 2) and let be its law of composition. Assume that the space X is connected and locally arcwise connected. Let be a connected covering of X; let denote its projection and let be a point of the fibre .
a) The covering is Galois and the group of its automorphisms is commutative.
b) There exists a continuous law of composition and only one such that one has and . Endowed with this law of composition, the pointed space is a Hopf space.
c) Endowed with the law of composition induced by , the fibre is a group with identity element . The mapping of into given by is a surjective group homomorphism with kernel . The mapping is an isomorphism of the group Aut onto the group .
a) The group is commutative (prop. 3). Since the covering of X is connected, it is then a Galois covering and the group Aut is isomorphic to the quotient group (III, p. 312, corollary 4 to proposition 2); this group is commutative.
b) Let us denote by the mapping . The required mapping is a continuous lifting of to such that . The space is locally arcwise connected; it is therefore enough, in order to prove the existence of such a continuous lifting, to verify that is contained in (III, p. 308, prop. 1). By prop. 3, the mapping identifies with the law of composition of the group when one identifies with . The group is therefore equal to the group , whence the existence of . Since is connected, the uniqueness of follows from I, p. 34, corollary 1 of prop. 11.
Let us prove that the mapping endows the pointed space with a structure of Hopf space. Let be the mapping and let be a homotopy pointed at joining to Id. Put , Id. The mapping defined by lifts the mapping ; let be the lifting of which is a homotopy with origin III, p. 301, prop. 2). The mapping is a lifting to of the constant mapping ; since , we therefore have for every . The mapping is then a lifting to of the mapping which maps to . Since is connected, Id is the unique X-morphism of into itself which fixes the point ; we therefore have Id. This shows that is a homotopy pointed at which joins the mapping to the mapping Id. Analogously, there exists a homotopy pointed at joining the mapping to the mapping Id. This proves that the pointed space , endowed with the law of composition , is a Hopf space.
c) Since is a connected covering of X, the orbital mapping of induced by the operation of on is surjective and induces a bijection of onto III, p. 305, Theorem 1).
Let and be loops in X at , and let and be their classes. Let and be the paths with origin in which lift and . We have and (III, p. 304). By Proposition 3 of IV, p. 374, the loop is strictly homotopic to the loop ; hence we have . Now, the path is a lift with origin of the path ; hence we have
The mapping is therefore a group homomorphism of into the set endowed with the law of composition induced by . Consequently, is a group for the law of composition induced by , and the orbital mapping of is an isomorphism of the quotient group onto .
The last part of assertion c) then results from Corollary 3 of III, p. 311.
Proposition 5 0220
Let us keep the notation and the hypotheses of Proposition 4.
a) If is an associative ( resp. commutative) law of composition, the same is true of .
b) If is a right-hand ( resp. left-hand) identity element for the law , then is a right-hand ( resp. left-hand) identity element for the law .
c) If X is a topological group, its law of composition and its identity element, the law of composition endows with a group structure compatible with the topology of , of which is the identity element. The mapping is a group homomorphism whose kernel is discrete and contained in the center of .
a) Suppose that the law is associative. Then the mappings from into X which map to and respectively are equal. The mappings and from into are continuous liftings of them which coincide at the point . Since is connected, they are equal (I, p. 34, Corollary 1 of Prop. 11), which shows that the law is associative.
Suppose now that the law is commutative; the mappings and are continuous liftings to of the mapping which coincide at the point . Since is connected, they are equal (loc. cit.) and the law is commutative.
If is a right (resp. left) identity element for the law , the mapping (resp. ) from into is an X-morphism of coverings which coincides with Id at the point , hence at every point of , since is connected (loc. cit.), whence b).
Let us finally prove c). Suppose that X is a topological group. From the foregoing, the law is associative and is an identity element for it. Let denote the mapping . It is continuous (TG, III, p. 1) and the homomorphism is none other than the mapping IV, p. 374, prop. 3). Consequently, the subgroup is equal to . By prop. 1 of III, p. 308, there therefore exists a continuous mapping such that and . The mappings and of into are liftings to of the constant mapping with image of into X. They are therefore constant and their image is . Thus every element of is invertible, with inverse , which shows that , endowed with the composition law , is a group. By construction of the law , the mapping is a group homomorphism. Since the mappings and are continuous, the group structure of is compatible with its topology (TG, III, p. 1). The fibre is a discrete subgroup of which is contained in the center of I, p. 100, cor. 3) and X is isomorphic to the quotient topological group .
Corollary 0221
Let G be a connected topological group and locally connected by arcs. Let be a connected covering of G, let be its projection and let be an element of the fibre N of the identity element of G. Endow with the unique continuous composition law such that and . If denotes the canonical injection, is a central extension of G by N (A, I, p. 63).
5. Universal covering of a coverable topological group
Let G be a topological group locally connected by arcs. The translations of G are homeomorphisms (TG, III, p. 2). In order that the space G be coverable (IV, p. 340, def. 2), it is necessary and sufficient that G possess the following property:
There exists a neighbourhood V of the identity element of G such that the image of the homomorphism from into deduced from the canonical injection is reduced to the identity element.
Proposition 6 0222
Let G be a connected and coverable topological group. There exist a topological group , with identity element , and a continuous homomorphism satisfying the following assertions:
a) The space is simply connected and simply connected by arcs. Endowed with the mapping , the pointed space is a universal covering of the pointed space .
(b) The kernel N of is a discrete subgroup of , contained in the center of . The group homomorphism Aut which, to , associates the right translation in , is a group isomorphism. The homomorphism of into N which, to , associates the unique element of N such that , is a group isomorphism.
(c) If is a topological group, with identity element , and if G is a group homomorphism which makes into a covering of G, the unique continuous mapping such that and is a group homomorphism. Endowed with the mapping is a universal covering of .
By IV, p. 342, Theorem 1, there exists a covering of G, simply connected and simply connected by arcs, Galoisian with group , and a point of such that the pointed covering is a universal covering of .
By IV, p. 375, Prop. 4 and IV, p. 377, Prop. 5, there exists on the space a unique group structure compatible with its topology for which is a group homomorphism and an identity element. It follows from Prop. 4 that the group satisfies assertions (a) and (b).
Let us prove assertion (c). Let be a topological group and let be a group homomorphism which makes into a covering of G. Let be the identity element of . The existence and uniqueness of a mapping such that and follow from the fact that is a universal covering of the pointed space . Since the mappings and are surjective group homomorphisms, is a group homomorphism. Endowed with the mapping is a covering of I, p. 81, Prop. 7), hence is a universal covering of (IV, p. 345, Cor. 2 of Theorem 1).
Under the hypotheses of the proposition, we shall say, by abuse, that is a universal covering of G.
Example 0223
Proposition 6 applies in particular when G is a connected Lie group over or . There then exists on a unique structure of analytic manifold such that the projection is an étale morphism of analytic manifolds (VAR R, §1, 5.8.2, p. 48). For this manifold structure, is a Lie group (LIE, III, p. 113, corollary).
Scholium 0224
Let G be a connected and unknottable topological group, let be its identity element. Let be a topological group simply connected by arcs, with identity element , and a group homomorphism which makes into a universal covering of G. Let us denote by N the kernel of .
The right translation (resp. the left translation) by an element is a G-automorphism of the principal covering , and the mapping is an isomorphism of the group N onto the automorphism group of this principal covering.
For every subgroup K of N, the mapping G deduced from is a Galois covering of G, and Aut is identified with the group . When, as above, the groups N and are identified, the group is identified with the subgroup K of N. Moreover, is a covering of , because G is locally connected (I, p. 81, prop. 7).
Conversely, every nonempty connected covering E of G is G-isomorphic to a covering of this type (I, p. 113, th. 3 and I, p. 111, prop. 10). Consider in fact a point of the fibre and let be the unique homomorphism of into E which maps to . Endowed with is a Galois covering of E; the subgroup Aut of Aut is identified with and is therefore a subgroup of N. It follows that induces a G-isomorphism of onto E. By transport of structure, there results a topological group structure on E for which is the identity element and for which the mapping is a surjective homomorphism. The projection of the G-space E is then a group homomorphism, and the composition law of E is therefore the composition law defined by prop. 4 of IV, p. 375.
Let and be connected coverings of G, let be a point of and a point of . In order that there exist a G-morphism of E into , it is necessary and sufficient that be contained in . If this condition is satisfied, there then exists a unique G-morphism such that III, p. 311, cor. 2 of prop. 1). If E and are endowed with the group composition laws for which and are homomorphisms and and identity elements, the mapping is a group homomorphism. In fact, is identified with the canonical homomorphism .
Proposition 7 0225
In order that two connected unrollable topological groups be locally isomorphic, it is necessary and sufficient that their universal coverings be isomorphic topological groups.
A connected unrollable topological group is locally isomorphic to its universal covering (IV, p. 369, prop. 1); the condition is therefore sufficient. It is necessary by corollary 2 of proposition 2 (IV, p. 372), since the universal covering of a connected unrollable topological group is simply connected (IV, p. 379, prop. 6).
Proposition 8 0226
Let G be a connected unrollable topological group and let be a universal covering of G. Let V be a connected open neighbourhood of the identity element of G such that the image of the canonical homomorphism of into is reduced to the identity element. Let denote the group defined by the generating set V and by the set of relators , where runs through the set of elements of such that . Let denote the canonical mapping.
There exists a unique isomorphism of the group onto such that is a lifting to of the canonical injection of V into G.
The set is connected and open, hence locally arcwise connected. Let be the projection of . There exists a continuous section of over such that , where denotes the identity element of III, p. 308, prop. 1). Put ; the set is a connected open neighbourhood of in , and is a homeomorphism of onto . The mappings and are liftings to of the mapping of into G which coincide at ; since is connected, they coincide on (I, p. 34, cor. 1). Moreover, if , the conditions and are equivalent. The existence of an isomorphism then follows from corollary 3 (IV, p. 372) of proposition 2.
Let be an isomorphism of satisfying the conditions of the proposition. The equality implies that , so that is the identity element of . Since V is connected, is the unique continuous lifting to of the canonical injection of V into G. Consequently, and coincide on . Since generates the group , .
Exercises
See the exercises for § 3.