Bourbaki

§ 3. Poincaré groups of topological groups

1. Extension of local group homomorphisms

Definition 1 021M

Given a topological group G and a group G′G', a local homomorphism of G into G′G' means a mapping ff of a neighbourhood V of the identity element of G into G′G' such that, for every pair of points x,yx,y of V such that xy∈Vxy\in V, one has f(xy)=f(x)f(y)f(xy) =f(x)f(y).

If G′G' is a topological group and if ff is a continuous mapping, one says that ff is a continuous local homomorphism (or local morphism of topological groups).

If G and G′G' are topological groups, the notion of local isomorphism of G onto G′G' has been defined (TG, III, p. 6, Def. 2). A local isomorphism of G onto G′G' is a homeomorphism ff of a neighbourhood V of the identity element of G onto a neighbourhood V′V' of the identity element of G′G' such that ff and the inverse mapping of ff are local homomorphisms.

Proposition 1 021N

Let G and G′G' be topological groups and let p:G→G′p: G\rightarrow G' be a group homomorphism. In order that pp should make G a covering of G′G', it is necessary and sufficient that the restriction of pp to a suitable neighbourhood of the identity element of G should be a local isomorphism of G onto G′G'.

The condition is necessary by Proposition 3 of TG, III, p. 6. Conversely, suppose that pp induces a homeomorphism of an open neighbourhood V of the identity element ee of G onto a neighbourhood V′V' of the identity element of G′G'. The mapping pp is then continuous (TG, III, p. 15, Prop. 23) and open (TG, III, p. 16, Prop. 24). The image H of pp is a subgroup of G′G' containing V, hence open and closed in G′G' (TG, III, p. 7, Corollary). Let N be the kernel of pp; one has N∩V={e}N\cap V =\{e\}, therefore N is discrete (loc. cit., Prop. 5). Consequently, pp 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 G′G', the G′G'-space (G,p)(G, p) is a covering.

Proposition 2 021O

Let G be a connected topological group, let G′G' be a group and let f:V→G′f: V\rightarrow G' be a local homomorphism of G into G′G', 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 p:H→Gp: H\rightarrow G such that (H,p)(H, p) is a covering of G, and a group homomorphism φ:H→G′\varphi : H\rightarrow G' such that the set of y∈p−1(V)y\in \overset{-1}{p}(V) satisfying f(p(y))=φ(y)f(p(y)) =\varphi (y) is a neighbourhood of the identity element in H.

If G′G' is a topological group and if the mapping ff is continuous, such a homomorphism φ\varphi is continuous.

Lemma 1 021P

Let G be a topological group and let V be a connected neighbourhood of the identity element ee of G. For every neighbourhood U of ee in G and every x∈Vx\in V, there exist an integer n∈Nn\in \mathbf{N} and elements u1,...,unu_1, . . . , u_n in U such that u1...un=xu_1. . . u_n=x and u1...uk∈Vu_1. . . u_k\in V for every integer kk such that 1⩽k⩽n1\leqslant k\leqslant n.

One may suppose that U is open and contained in V. Let A denote the set of x∈Vx\in V satisfying the condition of the lemma. If x∈Ax\in A and if y∈xU∩Vy\in xU\cap V, then y∈Ay\in A, whence AU ∩V⊂A\cap V\subset A; this shows that A is open in V. Let x∈Vx\in V be such that xU−1∩A=∅̸xU^{-1}\cap A=\not\emptyset; then one has x∈x\in AU∩V\cap V, hence x∈Ax\in A. Consequently, if x∈Vx\in V and x∉A,xU−1∩A=∅x\notin A,xU^{-1}\cap A =\emptyset and A is closed in V. Since e∈Ae\in A and V is connected, it follows that A = V.

Let us now prove the proposition. Let jj be the mapping g↦g\mapsto (g,f(g))(g, f(g)) of V into G×G′G\times G' and let H be the subgroup of G×G′G\times G' generated by j(V)j(V).

Let U be a neighbourhood of ee in G, contained in V. Let x∈Vx\in V; by lemma 1, there exist u1,...,un∈Uu_1, . . . , u_n\in U such that x=u1...unx=u_1. . . u_n and such that u1...uk∈Vu_1. . . u_k\in V for every integer kk such that 1⩽k⩽n1\leqslant k\leqslant n. By induction, one has f(u1...uk)=f(u1)...f(uk)f(u_1. . . u_k) =f(u_1). . . f(u_k) for every integer k,1⩽k⩽nk,1\leqslant k\leqslant n. In particular, j(x)j(x) belongs to the subgroup generated by j(U)j(U). It follows that H is generated by j(U)j(U).

Let B\mathscr{B} be the set of subsets of H of the form j(U)j(U), where U is a neighbourhood of ee in V. Let us show that there exists a unique topology on H, compatible with its group structure, for which B\mathscr{B} is a base of the filter of neighbourhoods of the identity element. For this, it is enough to prove that the set B\mathscr{B} satisfies conditions (GVI′'_I), (GVII′'_{II}) and (GVIII′'_{III}) of III, p. 4.

Let therefore U be a neighbourhood of ee in G, contained in V; there exists a neighbourhood U′U' of ee such that U′⋅U′⊂UU'\cdot U'\subset U. For every pair x,yx, y of points of U′U', one has xy∈Vxy\in V and f(xy)=f(x)f(y)f(xy) =f(x)f(y). Hence j(U′)∈Bj(U')\in \mathscr{B} and j(U′)⋅j(U′)⊂j(U)j(U')\cdot j(U')\subset j(U). This shows that condition (GVI′'_I) is satisfied.

The set U′′=V∩U−1U''= V\cap U^{-1} is then a neighbourhood of ee in V and, for x∈U′′x\in U'', one has x−1∈Ux^{-1}\in U and f(x−1)=f(x)−1f(x^{-1}) =f(x)^{-1}. Hence j(U′′)−1⊂j(U)j(U'')^{-1}\subset j(U), which shows condition (GVII′'_{II}).

Finally, let us fix a neighbourhood U of ee in V such that U=U−1U = U^{-1} and U3⊂VU^3\subset V. Let W be a neighbourhood of ee in U and let h=(g,f(g))h= (g, f(g)) be an element of j(U)j(U). There exists a neighbourhood W′W' of ee contained in W such that gW′g−1⊂WgW'g^{-1}\subset W. Then j(W′)∈Bj(W')\in \mathscr{B} and hj(W′)h−1⊂j(W)hj(W')h^{-1}\subset j(W), for one has f(gxg−1)=f(g)f(x)f(g−1)f(gxg^{-1}) =f(g)f(x)f(g^{-1}), for x∈W′x\in W'.

Let h∈Hh\in H. Since U is a neighbourhood of ee contained in V,j(U),j(U) generates H; since U is symmetric, there exist elements u1,...,unu_1, . . . , u_n in U such that h=j(u1)...j(un)h=j(u_1). . . j(u_n). By induction on nn, there exists a neighbourhood W′W' of ee contained in W such that hj(W′)h−1⊂j(W)hj(W')h^{-1}\subset j(W). Consequently, condition (GVIII′'_{III}) is satisfied.

Let us then endow the group G with this topology.

Let us denote by p:H→p: H\rightarrow G the restriction to H of the first projection G×G′→GG\times G'\rightarrow G. This is a group homomorphism. For every neighbourhood U of ee contained in V, the set p−1(U)\overset{-1}{p}(U) contains the neighbourhood j(U)j(U) of the identity element of H; hence pp is a continuous homomorphism of topological groups. For every neighbourhood U of ee contained in V, one has p(j(U))=Up(j(U)) = U, hence pp is an open mapping. Since G is connected, pp is surjective. Its kernel is discrete because it meets j(V)j(V) only in the identity element. It then follows from Corollary 3 (I, p. 100) that the G-space (H,p)(H, p) is a covering.

Let φ\varphi be the restriction to H of the second projection G×G′→G′G\times G'\rightarrow G'. If g∈Vg\in V, one has (g,f(g))=j(g)∈j(V)(g, f(g)) =j(g)\in j(V) and φ(g,f(g))=f(g)\varphi (g, f(g)) =f(g), so that φ(y)=f(p(y))\varphi (y) =f(p(y)) for y∈j(V)y\in j(V).

Suppose moreover that G′G' is a topological group and that the mapping ff is continuous at ee. Then the homomorphism φ\varphi 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 G′G' be a group. Let V be a connected neighbourhood of the identity element in G and let f:V→G′f: V\rightarrow G' be a local homomorphism. There exists a unique group homomorphism h:G→G′h: G\rightarrow G' extending ff. If G′G' is a topological group and if the mapping ff is continuous, the homomorphism hh is continuous.

The group G is connected. Let H,φ,\varphi and pp 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 pp is an isomorphism of topological groups. Put h=φ∘p−1h=\varphi \circ p^{-1}; the mapping hh is a group homomorphism and there exists an open neighbourhood U of the identity element ee of G contained in V such that f∣U=h∣Uf|U =h|U. It follows from lemma 1 that ff and hh coincide on V. In other words, the mapping hh extends the mapping ff.

If G′G' is a topological group and if the mapping ff is continuous, the homomorphism φ\varphi is continuous, hence so is hh.

Let us prove the uniqueness of such an extension. The set of points of G where two homomorphisms of G into G′G' 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 hh follows.

Remark 1 021R

When G=RG =\mathbf{R}, 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 G′G' be locally connected topological groups, let V and V′V' be connected neighbourhoods of the identity element of G and of G′G' respectively, and let f:V→V′f: V\rightarrow V' be a homeomorphism which is a local isomorphism of G onto G′G'. By corollary 1, there exists a unique continuous group homomorphism φ:G→G′\varphi : G\rightarrow G' extending ff and a unique continuous group homomorphism φ′:G′→\varphi ': G'\rightarrow G extending f−1f^{-1}. The homomorphisms φ′∘φ\varphi '\circ \varphi and IdG_G coincide on a neighbourhood of ee in G, hence are equal, since G is connected. Analogously, φ∘φ′=\varphi \circ \varphi '= IdG′_{G'}, 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 r\mathbf{r} of relations the family of the xyz−1xyz^{-1}, where (x,y,z)(x, y, z) runs through the triples of elements of V such that xy=zxy=z.

Let F(V,r)F(V,\mathbf{r}) be the quotient group of the free group F(V) by the smallest normal subgroup containing the elements xyz−1xyz^{-1}, where (x,y,z)∈V×(x, y, z)\in V\times V×VV\times V and xy=zxy=z (A, I, p. 86). Let us denote by f:V→F(V,r)f: V\rightarrow F(V,\mathbf{r}) and g:F(V,r)→Gg: F(V,\mathbf{r})\rightarrow G the canonical mappings. By construction, the mapping ff is a local homomorphism of G into F(V,r)F(V,\mathbf{r}). By corollary 1, there exists a unique group homomorphism f‾:G→F(V,r)\overline{f}: G\rightarrow F(V,\mathbf{r}) extending ff. Since the group F(V,r)F(V,\mathbf{r}) is generated by f(V)f(V), the homomorphism f‾\overline{f} is surjective. For x∈Vx\in V, one has g(f‾(x))=g(f(x))=xg(\overline{f}(x)) =g(f(x)) =x; since V generates G,g∘f‾=,g\circ \overline{f}= IdG_G, which proves that f‾\overline{f} is injective. It is therefore an isomorphism.

2. Hopf Spaces

Definition 2 021U

A pointed topological space (X,e)(X, e) endowed with a continuous law of composition m:X×X→Xm: X\times X\rightarrow X is called a Hopf space, such that

(i) m(e,e)=em(e, e) =e;

(ii) there exist homotopies pointed at ee connecting the mappings x↦m(x,e)x\mapsto m(x, e) and x↦m(e,x)x\mapsto m(e, x) with the mapping IdX_X.

Properties (i) and (ii) are sometimes expressed by saying that ee is an identity element up to homotopy for the composition law mm.

It should be noted that there may exist several identity elements up to homotopy for a continuous composition law mm on a topological space X. For example, for X=RX =\mathbf{R} and m(x,y)=(x+y)/2m(x, y) = (x+y)/2, every x∈Rx\in \mathbf{R} is an identity element up to homotopy.

Example 1 021V

Let G be a topological group and mm its composition law. The identity element ee of G is an identity element up to homotopy and (G,e)(G, e) is a Hopf space.

Example 2 021W

Let X be a topological space and xx a point of X. Endowed with the juxtaposition of loops at xx, the pointed space (Ωx(X),ex)(\Omega_x(X), e_x) is a Hopf space. In fact, first one has ex∗ex=exe_x*e_x=e_x. On the other hand, let ψ:I→I\psi :\mathbf{I}\rightarrow \mathbf{I} be the function defined by ψ(t)=2t\psi (t) = 2t for 0⩽t⩽120\leqslant t\leqslant \frac{1}{2} and ψ(t)=1\psi (t) = 1 for 12⩽t⩽1\frac{1}{2}\leqslant t\leqslant 1 (cf. III, p. 291), and let σ:I×I→I\sigma :\mathbf{I}\times \mathbf{I}\rightarrow \mathbf{I} be a strict homotopy connecting ψ\psi with IdI(_{\mathbf{I}}(III, p. 289, example). Then, for every loop c∈Ωx(X)c\in \Omega_x(X), the mapping c∘σ:I×I→Xc\circ \sigma :\mathbf{I}\times \mathbf{I}\rightarrow X is a strict homotopy connecting c∗exc*e_x with cc in Ωx(X)\Omega_x(X).

Let τ\tau be the mapping Ωx(X)×I→Ωx(X)\Omega_x(X)\times \mathbf{I}\rightarrow \Omega_x(X) defined by τ(c,s)(t)=\tau (c, s)(t) = c∘σ(s,t)c\circ \sigma (s, t). Let us now prove that τ\tau is continuous. By proposition 1 of III, p. 257, it is enough to show that the mapping (c,s,t)↦c(σ(s,t))(c, s, t)\mapsto c(\sigma (s, t)) of Ωx(X)×I×I\Omega_x(X)\times \mathbf{I}\times \mathbf{I} into X is continuous, or again, since I×I\mathbf{I}\times \mathbf{I} is compact, that the mapping c↦c∘σc\mapsto c\circ \sigma of Cc(I;X)\mathscr{C}_c(\mathbf{I}; X) into Cc(I×I;X)\mathscr{C}_c(\mathbf{I}\times \mathbf{I}; X) is continuous. This last assertion then follows from the lemma, I, p. 132, b). Hence the mapping τ\tau is a homotopy connecting the mapping c↦c∗exc\mapsto c*e_x with the identity mapping of Ωx(X)\Omega_x(X). One has τ(ex,s)(t)=x\tau (e_x, s)(t) =x for all s,t∈Is,t\in \mathbf{I}; therefore τ\tau is a homotopy pointed at exe_x. One reasons analogously for the mapping c↦ex∗cc\mapsto e_x*c.

Proposition 3 021X

Let (X,e)(X, e) be a Hopf space and m:X×X→Xm: X\times X\rightarrow X its composition law. For any loops c,c′c,c' of X at ee, one has:

c′∗c∼c∗c′∼m∘(c,c′) c'*c\sim c*c'\sim m\circ (c, c')

where ∼\sim denotes the relation of strict homotopy. The law of composition of the group π1(X,e)\pi_1(X, e) is the homomorphism obtained by composing the canonical isomorphism π1(X,e)×π1(X,e)→π1(X×X,(e,e))\pi_1(X, e)\times \pi_1(X, e)\rightarrow \pi_1(X\times X,(e, e)) (III, p. 297, corollary) and the homomorphism π1(m,(e,e))\pi_1(m,(e, e)) of π1(X×X,(e,e))\pi_1(X\times X,(e, e)) into π1(X,e)\pi_1(X, e). The group π1(X,e)\pi_1(X, e) is commutative.

Let μ:π1(X,e)×π1(X,e)→π1(X,e)\mu:\pi_1(X, e)\times \pi_1(X, e)\rightarrow \pi_1(X, e) be the group homomorphism obtained by composing the canonical isomorphism of π1(X,e)×π1(X,e)\pi_1(X, e)\times \pi_1(X, e) onto π1(X×\pi_1(X\times X,(e,e))X,(e, e)) and the homomorphism π1(m,(e,e))\pi_1(m,(e, e)). It is to be proved that one has

μ(γ,γ′)=γγ′=γ′γ(1) \mu(\gamma , \gamma ') =\gamma \gamma '=\gamma '\gamma \tag{1}

for all γ,γ′∈π1(X,e)\gamma ,\gamma '\in \pi_1(X, e). Taking account of Remark 2 of III, p. 297, one has:

μ(γ,γ′)=μ(γ,εe)μ(εe,γ′)=μ(εe,γ′)μ(γ,εe)(2) \mu(\gamma , \gamma ') =\mu(\gamma , \varepsilon_e)\mu(\varepsilon_e, \gamma ') =\mu(\varepsilon_e, \gamma ')\mu(\gamma , \varepsilon_e) \tag{2}

Let c∈Ωe(X)c\in \Omega_e(X) be a loop of class γ\gamma; let us denote by m1:X→Xm_1: X\rightarrow X the mapping defined by m1(x)=m(x,e)m_1(x) =m(x, e); then μ(γ,εe)\mu(\gamma , \varepsilon_e) is the class of m1∘cm_1\circ c. By definition of a Hopf space, the mappings pointed at ee, m1m_1 and IdX_X, have the same pointed homotopy class at ee. Hence the loops at ee, m1∘cm_1\circ c and cc, are strictly homotopic (III, p. 296, Cor. 1 of Prop. 3) and one has μ(γ,εe)=γ\mu(\gamma , \varepsilon_e) =\gamma. One proves analogously that one has μ(εe,γ′)=γ′\mu(\varepsilon_e, \gamma ') =\gamma '. Relation (1) then follows from relation (2).

Remark 021Y

Let (X,e)(X, e) be a Hopf space. By Prop. 3, the mapping of composition of path classes, π1(X,e)×π1(X,e)→\pi_1(X, e)\times \pi_1(X, e)\rightarrow π1(X,e)\pi_1(X, e) is continuous if π1(X,e)\pi_1(X, e) is endowed with the quotient topology of the topology of compact convergence on Λe(X)\Lambda_e(X). It is in fact the composite of the continuous isomorphism π1(X,e)×π1(X,e)→π1(X×X,(e,e))\pi_1(X, e)\times \pi_1(X, e)\rightarrow \pi_1(X\times X,(e, e)) (III, p. 298, Remark 3) and the continuous mapping m∗:π1(X×X,(e,e))→m_*:\pi_1(X\times X,(e, e))\rightarrow π1(X,e)\pi_1(X, e) (III, p. 294, Remark 1).

3. Poincaré Group of Topological Groups

If G is a topological group, for every g∈Gg\in G, the left translation x↦gxx\mapsto gx is a homeomorphism of G onto itself (TG, III, p. 2) and it induces an isomorphism of π1(G,e)\pi_1(G, e) onto π1(G,g)\pi_1(G, g).

Let G be a topological group, let ee be its identity element and let us denote by G0G_0 the path-connected component of ee in G. Let us denote by R the equivalence relation in G whose equivalence classes are the path-connected components of G, and let p:G→π0(G)p: G\rightarrow \pi_0(G) 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 G0G_0 is a normal subgroup of G, the quotient group G/G0G/G_0 is equal to π0(G)\pi_0(G) endowed with the quotient law of composition induced by that of G, and the mapping pp is a group homomorphism.

The group π1(G,e)\pi_1(G, e) is called the Poincaré group of G, and is denoted by π1(G)\pi_1(G). The canonical injection of G0G_0 into G induces an isomorphism of π1(G0)\pi_1(G_0) onto π1(G)\pi_1(G) (III, p. 293, Remark 2).

Let gg be an element of G; the right translation δg:x↦xg\boldsymbol{\delta }_g:x\mapsto xg induces an isomorphism (δg)∗:π1(G)→π1(G,g)(\boldsymbol{\delta }_g)_*:\pi_1(G)\rightarrow \pi_1(G, g). Suppose that gg belongs to G0G_0 and let bb be a path joining ee to gg. The mapping σ:G×I→G\sigma : G\times \mathbf{I}\rightarrow G defined by σ(x,t)=xb(t)\sigma (x, t) =xb(t) is a homotopy joining IdG_G to δg\boldsymbol{\delta }_g. By prop. 3 of III, p. 295, one therefore has, for every α∈π1(G)\alpha \in \pi_1(G), (δg)∗(α)=(\boldsymbol{\delta }_g)_*(\alpha ) = β−1αβ\beta^{-1}\alpha \beta, where β∈ϖe,g(G)\beta \in \varpi_{e,g}(G) is the class of the path bb. If γg\boldsymbol{\gamma }_g denotes the left translation, x↦gxx\mapsto gx, one has analogously (γg)∗(α)=β−1αβ(\boldsymbol{\gamma }_g)_*(\alpha ) =\beta^{-1}\alpha \beta.

For every g∈Gg\in G, the mapping Int(gg):G→G: G\rightarrow G induces an automorphism π1\pi_1(Int(gg)) of π1(G)\pi_1(G). One thus defines a law of operation of G on π1(G)\pi_1(G). For every g∈Gg\in G, one has π1\pi_1(Int(gg)) =(γg−1)∗∘(δg)∗= (\boldsymbol{\gamma }_{g^{-1}})_*\circ (\boldsymbol{\delta }_g)_*, so that the subgroup G0G_0 operates trivially; it follows that there is a law of operation of π0(G)\pi_0(G) on π1(G)\pi_1(G). 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 (X,e)(X, e) be a Hopf space (IV, p. 373, definition 2) and let m:X×X→Xm: X\times X\rightarrow X be its law of composition. Assume that the space X is connected and locally arcwise connected. Let X′X' be a connected covering of X; let pp denote its projection and let e′e' be a point of the fibre Xe′X'_e.

a) The covering X′X' is Galois and the group of its automorphisms is commutative.

b) There exists a continuous law of composition m′:X′×X′→X′m': X'\times X'\rightarrow X' and only one such that one has p∘m′=m∘(p,p)p\circ m'=m\circ (p, p) and m′(e′,e′)=e′m'(e', e') =e'. Endowed with this law of composition, the pointed space (X′,e′)(X', e') is a Hopf space.

c) Endowed with the law of composition induced by m′m', the fibre Xe′X'_e is a group with identity element e′e'. The mapping of π1(X,x)\pi_1(X, x) into Xe′X'_e given by γ↦e′⋅γ\gamma \mapsto e'\cdot \gamma is a surjective group homomorphism with kernel p∗(π1(X′,e′))p_*(\pi_1(X', e')). The mapping g↦g(e′)g\mapsto g(e') is an isomorphism of the group AutX(X′)_X(X') onto the group Xe′X'_e.

a) The group π1(X,e)\pi_1(X, e) is commutative (prop. 3). Since the covering X′X' of X is connected, it is then a Galois covering and the group AutX(X′)_X(X') is isomorphic to the quotient group π1(X,e)/p∗(π1(X′,e′))\pi_1(X, e)/p_*(\pi_1(X', e')) (III, p. 312, corollary 4 to proposition 2); this group is commutative.

b) Let us denote by q:X′×X′→Xq: X'\times X'\rightarrow X the mapping m∘(p,p)m\circ (p, p). The required mapping m′m' is a continuous lifting of qq to X′X' such that m′(e′,e′)=e′m'(e', e') =e'. The space X′×X′X'\times X' is locally arcwise connected; it is therefore enough, in order to prove the existence of such a continuous lifting, to verify that q∗(π1(X′×X′,(e′,e′)))q_*(\pi_1(X'\times X',(e', e'))) is contained in p∗(π1(X′,e′))p_*(\pi_1(X', e')) (III, p. 308, prop. 1). By prop. 3, the mapping π1(m,(e,e))\pi_1(m,(e, e)) identifies with the law of composition of the group π1(X,e)\pi_1(X, e) when one identifies π1(X×X,(e,e))\pi_1(X\times X,(e, e)) with π1(X,e)×π1(X,e)\pi_1(X, e)\times \pi_1(X, e). The group q∗(π1(X′×X′,(e′,e′)))q_*(\pi_1(X'\times X',(e', e'))) is therefore equal to the group p∗(π1(X′,e′))p_*(\pi_1(X', e')), whence the existence of m′m'. Since X′×X′X'\times X' is connected, the uniqueness of m′m' follows from I, p. 34, corollary 1 of prop. 11.

Let us prove that the mapping m′m' endows the pointed space (X′,e′)(X', e') with a structure of Hopf space. Let m1:X→Xm_1: X\rightarrow X be the mapping g↦m(g,e)g\mapsto m(g, e) and let σ1:X×I→X\sigma_1: X\times \mathbf{I}\rightarrow X be a homotopy pointed at xx joining m1m_1 to IdX_X. Put τ=σ1∘(p\tau =\sigma_1\circ (p, IdI):X′×I→X_{\mathbf{I}}): X'\times \mathbf{I}\rightarrow X. The mapping m1′:X′→X′m'_1: X'\rightarrow X' defined by h↦m′(h,e′)h\mapsto m'(h, e') lifts the mapping τ(⋅,0)\tau (\cdot ,0); let τ′:X′×I→X′\tau ': X'\times \mathbf{I}\rightarrow X' be the lifting of τ\tau which is a homotopy with origin m1′(m'_1(III, p. 301, prop. 2). The mapping t↦τ′(e′,t)t\mapsto \tau '(e', t) is a lifting to X′X' of the constant mapping t↦et\mapsto e; since τ′(e′,0)=e′\tau '(e',0) =e', we therefore have τ′(e′,t)=e′\tau '(e', t) =e' for every t∈It\in \mathbf{I}. The mapping τ′(⋅,1)\tau '(\cdot ,1) is then a lifting to X′X' of the mapping pp which maps e′e' to e′e'. Since X′X' is connected, IdX′_{X'} is the unique X-morphism of X′X' into itself which fixes the point e′e'; we therefore have τ′(⋅,1)=\tau '(\cdot ,1) = IdX′_{X'}. This shows that τ′\tau ' is a homotopy pointed at e′e' which joins the mapping m1′m'_1 to the mapping IdX′_{X'}. Analogously, there exists a homotopy pointed at e′e' joining the mapping m2′:h↦m′(e′,h)m'_2:h\mapsto m'(e', h) to the mapping IdX′_{X'}. This proves that the pointed space (X′,e′)(X', e'), endowed with the law of composition m′m', is a Hopf space.

c) Since X′X' is a connected covering of X, the orbital mapping of e′e' induced by the operation of π1(X,e)\pi_1(X, e) on Xe′X'_e is surjective and induces a bijection of π1(X,e)/p∗(π1(X′,e′))\pi_1(X, e)/p_*(\pi_1(X', e')) onto Xe′(X'_e(III, p. 305, Theorem 1).

Let cc and dd be loops in X at ee, and let γ\gamma and δ∈π1(X,e)\delta \in \pi_1(X, e) be their classes. Let c′c' and d′d' be the paths with origin e′e' in X′X' which lift cc and dd. We have e′⋅γ=c′(1)e'\cdot \gamma =c'(1) and e′⋅δ=d′(1)e'\cdot \delta =d'(1) (III, p. 304). By Proposition 3 of IV, p. 374, the loop m∘(c,d)m\circ (c, d) is strictly homotopic to the loop c∗dc*d; hence we have e′⋅(γδ)=e′⋅(m∘(c,d))e'\cdot (\gamma \delta ) =e'\cdot (m\circ (c, d)). Now, the path m′∘(c′,d′)m'\circ (c', d') is a lift with origin e′e' of the path m∘(c,d)m\circ (c, d); hence we have

e′⋅(γδ)=m′(c′(1),d′(1))=m′(e′⋅γ,e′⋅δ) e'\cdot (\gamma \delta ) =m'(c'(1), d'(1)) =m'(e'\cdot \gamma , e'\cdot \delta )

The mapping γ↦e′⋅γ\gamma \mapsto e'\cdot \gamma is therefore a group homomorphism of π1(X,e)\pi_1(X, e) into the set Xe′X'_e endowed with the law of composition induced by m′m'. Consequently, Xe′X'_e is a group for the law of composition induced by m′m', and the orbital mapping of e′e' is an isomorphism of the quotient group π1(X,e)/p∗(π1(X′,e′))\pi_1(X, e)/p_*(\pi_1(X', e')) onto Xe′X'_e.

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 mm is an associative ( resp. commutative) law of composition, the same is true of m′m'.

b) If ee is a right-hand ( resp. left-hand) identity element for the law mm, then e′e' is a right-hand ( resp. left-hand) identity element for the law m′m'.

c) If X is a topological group, mm its law of composition and ee its identity element, the law of composition m′m' endows X′X' with a group structure compatible with the topology of X′X', of which e′e' is the identity element. The mapping p:X′→Xp: X'\rightarrow X is a group homomorphism whose kernel is discrete and contained in the center of X′X'.

a) Suppose that the law mm is associative. Then the mappings from X′×X′×X′X'\times X'\times X' into X which map (h1,h2,h3)(h_1, h_2, h_3) to m(p(h1),m(p(h2),p(h3)))m(p(h_1), m(p(h_2), p(h_3))) and m(m(p(h1),p(h2)),p(h3))m(m(p(h_1), p(h_2)), p(h_3)) respectively are equal. The mappings (h1,h2,h3)↦m′(h1,m′(h2,h3))(h_1, h_2, h_3)\mapsto m'(h_1, m'(h_2, h_3)) and (h1,h2,h3)↦m′(m′(h1,h2),h3)(h_1, h_2, h_3)\mapsto m'(m'(h_1, h_2), h_3) from X′×X′×X′X'\times X'\times X' into X′X' are continuous liftings of them which coincide at the point (e′,e′,e′)(e', e', e'). Since X′×X′×X′X'\times X'\times X' is connected, they are equal (I, p. 34, Corollary 1 of Prop. 11), which shows that the law m′m' is associative.

Suppose now that the law mm is commutative; the mappings (h1,h2)↦m′(h1,h2)(h_1, h_2)\mapsto m'(h_1, h_2) and (h1,h2)↦m′(h2,h1)(h_1, h_2)\mapsto m'(h_2, h_1) are continuous liftings to X′X' of the mapping (h1,h2)↦m(p(h1),p(h2))(h_1, h_2)\mapsto m(p(h_1), p(h_2)) which coincide at the point (e′,e′)(e', e'). Since X′×X′X'\times X' is connected, they are equal (loc. cit.) and the law m′m' is commutative.

If ee is a right (resp. left) identity element for the law mm, the mapping h↦m′(h,e′)h\mapsto m'(h, e') (resp. h↦m′(e′,h)h\mapsto m'(e', h)) from X′X' into X′X' is an X-morphism of coverings which coincides with IdX′_{X'} at the point e′e', hence at every point of X′X', since X′X' is connected (loc. cit.), whence b).

Let us finally prove c). Suppose that X is a topological group. From the foregoing, the law m′m' is associative and e′e' is an identity element for it. Let i:X→Xi: X\rightarrow X denote the mapping g↦g−1g\mapsto g^{-1}. It is continuous (TG, III, p. 1) and the homomorphism π1(i,e):π1(X,e)→π1(X,e)\pi_1(i, e):\pi_1(X, e)\rightarrow \pi_1(X, e) is none other than the mapping γ↦γ−1(\gamma \mapsto \gamma^{-1}(IV, p. 374, prop. 3). Consequently, the subgroup (i∘p)∗(π1(X′,e′))(i\circ p)_*(\pi_1(X', e')) is equal to p∗(π1(X′,e′))p_*(\pi_1(X', e')). By prop. 1 of III, p. 308, there therefore exists a continuous mapping i′:X′→X′i': X'\rightarrow X' such that p∘i′=i∘pp\circ i'=i\circ p and i′(e′)=e′i'(e') =e'. The mappings h↦m′(h,i′(h))h\mapsto m'(h, i'(h)) and h↦h\mapsto m′(i′(h),h)m'(i'(h), h) of X′X' into X′X' are liftings to X′X' of the constant mapping with image ee of X′X' into X. They are therefore constant and their image is e′=m′(e′,e′)e'=m'(e', e'). Thus every element hh of X′X' is invertible, with inverse i′(h)i'(h), which shows that X′X', endowed with the composition law m′m', is a group. By construction of the law m′m', the mapping p:X′→Xp: X'\rightarrow X is a group homomorphism. Since the mappings m′m' and i′i' are continuous, the group structure of X′X' is compatible with its topology (TG, III, p. 1). The fibre p−1(e)\overset{-1}{p}(e) is a discrete subgroup of X′X' which is contained in the center of X′(X'(I, p. 100, cor. 3) and X is isomorphic to the quotient topological group X′/p−1(e)X'/\overset{-1}{p}(e).

Corollary 0221

Let G be a connected topological group and locally connected by arcs. Let G′G' be a connected covering of G, let pp be its projection and let e′e' be an element of the fibre N of the identity element ee of G. Endow G′G' with the unique continuous composition law m′:G′×G′→G′m': G'\times G'\rightarrow G' such that p∘m′=m∘(p,p)p\circ m'=m\circ (p, p) and m′(e′,e′)=e′m'(e', e') =e'. If i:N→G′i: N\rightarrow G' denotes the canonical injection, (G′,p,i)(G', p, i) 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 ee of G such that the image of the homomorphism from π1(V,e)\pi_1(V, e) into π1(G,e)\pi_1(G, e) 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 G~\widetilde{G}, with identity element e~\widetilde{e}, and a continuous homomorphism p:G~→Gp:\widetilde{G}\rightarrow G satisfying the following assertions:

a) The space G~\widetilde{G} is simply connected and simply connected by arcs. Endowed with the mapping pp, the pointed space (G~,e~)(\widetilde{G},\widetilde{e}) is a universal covering of the pointed space (G,e)(G, e).

(b) The kernel N of pp is a discrete subgroup of G~\widetilde{G}, contained in the center of G~\widetilde{G}. The group homomorphism N→N\rightarrow AutG(G~)_G(\widetilde{G}) which, to n∈Nn\in N, associates the right translation in G~\widetilde{G}, is a group isomorphism. The homomorphism of π1(G)\pi_1(G) into N which, to γ∈π1(G)\gamma \in \pi_1(G), associates the unique element nn of N such that e~⋅γ=n\widetilde{e}\cdot \gamma =n, is a group isomorphism.

(c) If G′G' is a topological group, with identity element e′e', and if p′:G′→p': G'\rightarrow G is a group homomorphism which makes G′G' into a covering of G, the unique continuous mapping u:G~→G′u:\widetilde{G}\rightarrow G' such that u(e~)=e′u(\widetilde{e}) =e' and p′∘u=pp'\circ u=p is a group homomorphism. Endowed with the mapping u,(G~,e~)u,(\widetilde{G},\widetilde{e}) is a universal covering of (G′,e′)(G', e').

By IV, p. 342, Theorem 1, there exists a covering (G~,p)(\widetilde{G}, p) of G, simply connected and simply connected by arcs, Galoisian with group π1(G)∘\pi_1(G)^{\circ}, and a point e~\widetilde{e} of p−1(e)\overset{-1}{p}(e) such that the pointed covering (G~,e~)(\widetilde{G},\widetilde{e}) is a universal covering of (G,e)(G, e).

By IV, p. 375, Prop. 4 and IV, p. 377, Prop. 5, there exists on the space G~\widetilde{G} a unique group structure compatible with its topology for which pp is a group homomorphism and e~\widetilde{e} an identity element. It follows from Prop. 4 that the group G~\widetilde{G} satisfies assertions (a) and (b).

Let us prove assertion (c). Let G′G' be a topological group and let p′:G′→Gp': G'\rightarrow G be a group homomorphism which makes G′G' into a covering of G. Let e′e' be the identity element of G′G'. The existence and uniqueness of a mapping u:G~→G′u:\widetilde{G}\rightarrow G' such that p=p′∘up=p'\circ u and u(e~)=e′u(\widetilde{e}) =e' follow from the fact that (G~,e~)(\widetilde{G},\widetilde{e}) is a universal covering of the pointed space (G,e)(G, e). Since the mappings pp and p′p' are surjective group homomorphisms, uu is a group homomorphism. Endowed with the mapping u,G~u,\widetilde{G} is a covering of G′(G'(I, p. 81, Prop. 7), hence (G~,e~)(\widetilde{G},\widetilde{e}) is a universal covering of (G′,e′)(G', e') (IV, p. 345, Cor. 2 of Theorem 1).

Under the hypotheses of the proposition, we shall say, by abuse, that G~\widetilde{G} is a universal covering of G.

Example 0223

Proposition 6 applies in particular when G is a connected Lie group over R\mathbf{R} or C\mathbf{C}. There then exists on G~\widetilde{G} a unique structure of analytic manifold such that the projection p:G~→Gp:\widetilde{G}\rightarrow G is an étale morphism of analytic manifolds (VAR R, §1, 5.8.2, p. 48). For this manifold structure, G~\widetilde{G} is a Lie group (LIE, III, p. 113, corollary).

Scholium 0224

Let G be a connected and unknottable topological group, let ee be its identity element. Let G~\widetilde{G} be a topological group simply connected by arcs, with identity element e~\widetilde{e}, and p:G~→Gp:\widetilde{G}\rightarrow G a group homomorphism which makes G~\widetilde{G} into a universal covering of G. Let us denote by N the kernel of pp.

The right translation δh\boldsymbol{\delta }_h (resp. the left translation) by an element h∈Nh\in N is a G-automorphism of the principal covering G~\widetilde{G}, and the mapping h↦δhh\mapsto \boldsymbol{\delta }_h is an isomorphism of the group N onto the automorphism group of this principal covering.

For every subgroup K of N, the mapping p′:G~/K→p':\widetilde{G}/K\rightarrow G deduced from pp is a Galois covering of G, and AutG(G/K)_G(G/K) is identified with the group N/KN/K. When, as above, the groups N and π1(G)\pi_1(G) are identified, the group p∗′(π1(G~/K))p'_*(\pi_1(\widetilde{G}/K)) is identified with the subgroup K of N. Moreover, G~\widetilde{G} is a covering of G~/K\widetilde{G}/K, 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 xx of the fibre EeE_e and let ff be the unique homomorphism of G~\widetilde{G} into E which maps e~\widetilde{e} to xx. Endowed with f,G~f,\widetilde{G} is a Galois covering of E; the subgroup AutE(G~)_E(\widetilde{G}) of AutG(G~)_G(\widetilde{G}) is identified with f−1(x)f^{-1}(x) and is therefore a subgroup of N. It follows that ff induces a G-isomorphism of G~/f−1(x)\widetilde{G}/f^{-1}(x) onto E. By transport of structure, there results a topological group structure on E for which xx is the identity element and for which the mapping ff 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 (E,q)(E, q) and (E′,q′)(E', q') be connected coverings of G, let xx be a point of EeE_e and x′x' a point of Ee′E'_e. In order that there exist a G-morphism of E into E′E', it is necessary and sufficient that p∗(π1(E,x))p_*(\pi_1(E, x)) be contained in p∗′(π1(E′,x′))p'_*(\pi_1(E', x')). If this condition is satisfied, there then exists a unique G-morphism f:E→E′f: E\rightarrow E' such that g(x)=x′(g(x) =x'(III, p. 311, cor. 2 of prop. 1). If E and E′E' are endowed with the group composition laws for which qq and q′q' are homomorphisms and xx and x′x' identity elements, the mapping gg is a group homomorphism. In fact, gg is identified with the canonical homomorphism G~/p∗(π1(E,x))→\widetilde{G}/p_*(\pi_1(E, x))\rightarrow G~/p∗′(π1(E′,x′))\widetilde{G}/p'_*(\pi_1(E', x')).

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 G~\widetilde{G} be a universal covering of G. Let V be a connected open neighbourhood of the identity element ee of G such that the image of the canonical homomorphism of π1(V⋅V,e)\pi_1(V\cdot V, e) into π1(G,e)\pi_1(G, e) is reduced to the identity element. Let F(V,r)F(V,\mathbf{r}) denote the group defined by the generating set V and by the set r\mathbf{r} of relators xyz−1xyz^{-1}, where (x,y,z)(x, y, z) runs through the set of elements of V×V×VV\times V\times V such that xy=zxy=z. Let j:V→F(V,r)j: V\rightarrow F(V,\mathbf{r}) denote the canonical mapping.

There exists a unique isomorphism ff of the group F(V,r)F(V,\mathbf{r}) onto G~\widetilde{G} such that f∘jf\circ j is a lifting to G~\widetilde{G} of the canonical injection of V into G.

The set V⋅VV\cdot V is connected and open, hence locally arcwise connected. Let pp be the projection of G~\widetilde{G}. There exists a continuous section ss of pp over V⋅VV\cdot V such that s(e)=e~s(e) =\widetilde{e}, where e~\widetilde{e} denotes the identity element of G~(\widetilde{G}(III, p. 308, prop. 1). Put V~=s(V)\widetilde{V} =s(V); the set V~\widetilde{V} is a connected open neighbourhood of e~\widetilde{e} in G~\widetilde{G}, and ss is a homeomorphism of V⋅VV\cdot V onto V~⋅V~\widetilde{V}\cdot \widetilde{V}. The mappings (x,y)↦s(x)s(y)(x, y)\mapsto s(x)s(y) and (x,y)↦s(xy)(x, y)\mapsto s(xy) are liftings to G~\widetilde{G} of the mapping (x,y)↦xy(x, y)\mapsto xy of V×VV\times V into G which coincide at (e,e)(e, e); since V×VV\times V is connected, they coincide on V×VV\times V (I, p. 34, cor. 1). Moreover, if (x~,y~,z~)∈V~×V~×V~(\widetilde{x},\widetilde{y},\widetilde{z})\in \widetilde{V}\times \widetilde{V}\times \widetilde{V}, the conditions x~y~=z~\widetilde{x}\widetilde{y}=\widetilde{z} and p(x~)p(y~)=p(z~)p(\widetilde{x})p(\widetilde{y}) =p(\widetilde{z}) are equivalent. The existence of an isomorphism f:F(V,r)→G~f: F(V,\mathbf{r})\rightarrow \widetilde{G} then follows from corollary 3 (IV, p. 372) of proposition 2.

Let gg be an isomorphism of F(V,r)F(V,\mathbf{r}) satisfying the conditions of the proposition. The equality e⋅e=ee\cdot e=e implies that eee−1∈reee^{-1}\in \mathbf{r}, so that j(e)j(e) is the identity element of F(V,r)F(V,\mathbf{r}). Since V is connected, g∘jg\circ j is the unique continuous lifting to G~\widetilde{G} of the canonical injection of V into G. Consequently, ff and gg coincide on j(V)j(V). Since j(V)j(V) generates the group F(V,r)F(V,\mathbf{r}), f=gf=g.

Exercises

See the exercises for § 3.

Machine translation of the English, by gpt-5.4, against glossary version 34. Not checked by a person.