Bourbaki

§ 5. Groups operating on a set

1. Monoid operating on a set

Definition 1

Let M be a monoid, with law written multiplicatively and identity element denoted by e, and E a set. An action α↦fα\alpha \mapsto f_\alpha of M on E is called a left (resp. right) operation of M on E if fe=IdEf_e = \mathrm{Id}_E and fαβ=fα∘fβf_{\alpha \beta} = f_\alpha \circ f_\beta (resp. fαβ=fβ∘fαf_{\alpha \beta} = f_\beta \circ f_\alpha) for all α,β∈M\alpha, \beta \in M.

In other words, a left (resp. right) operation of a monoid M on a set E is a monoid homomorphism of M into the monoid EEE^E (resp. the opposite monoid of EEE^E) with composition of mappings. If the law of action corresponding to the action of M is denoted by left (resp. right) multiplication, the fact that this action is a left (resp. right) operation may be expressed by the formulae

(1)

e.x=x;α.(β.x)=(αβ).xfor α,β∈M and x∈E. e.x = x; \quad \alpha.(\beta.x) = (\alpha \beta).x \quad \text{for } \alpha, \beta \in M \text{ and } x \in E.
(resp. x.e=x;(x.α).β=x.(αβ)for α,β∈M and x∈Ex.e = x; \quad (x.\alpha).\beta = x.(\alpha \beta) \quad \text{for } \alpha, \beta \in M \text{ and } x \in E).

Under these conditions, it is also said that M operates on E on the left (resp. right) and that the corresponding laws of action are laws of left (resp. right) operation of the monoid M on E.

Let M be a monoid; a set E with a left (resp. right) operation of M on E is called a left (resp. right) M-set. The monoid M is said to operate on the left (resp. right) faithfully if the mapping α↦fα\alpha \mapsto f_\alpha of M into EEE^E is injective.

Example

(1) Let E be a set; the canonical action of EEE^E on E (§ 3, no. 1, Example 3) is a left operation.

(2) Let M be a monoid. The left (resp. right) action of M on itself derived from the law on M (§ 3, no. 3, Example 7) is a left (resp. right) operation of M on itself. When considering this operation, we say that M operates on itself by left (resp. right) translation.

Let E be a left (resp. right) M-set and M0M^0 the opposite monoid to M. Under the same action, the monoid M0M^0 operates on E on the right (resp. left). The M0M^0-set obtained is called opposite to the M-set E. The definitions and results relating to left M-sets carry over to right M0M^0-sets when passing to the opposite structures.

In the rest of this paragraph, we shall consider, unless otherwise stated, only left M-sets which we shall call simply M-sets. Their law of action will be denoted by left multiplication.

Let E be a set. Let G be a group operating on E. For all α\alpha in G, the element of EEE^E defined by α\alpha is a permutation of E (§\S 2, no. 3, Example 2). Being given an operation of G on E therefore amounts to being given a homomorphism of G into SE\mathfrak{S}_E.

In conformity with §\S 3, no. 3, we make the following definition:

Definition 2

Let M be a monoid and E and E' M-sets. A mapping f of E into E' such that, for all x∈Ex \in E and all α∈M\alpha \in M, f(α.x)=α.f(x)f(\alpha.x) = \alpha.f(x) is called an M-set homomorphism (or M-morphism, or mapping compatible with the operations of M).

The identity mapping of an M-set is an M-morphism. The composition of two M-morphisms is an M-morphism. For a mapping of one M-set into another to be an isomorphism, it is necessary and sufficient that it be a bijective M-morphism and the inverse mapping is then an M-morphism.

Let (Ei)i∈I(E_i)_{i \in I} be a family of M-sets and let E be the product set of EiE_i. The monoid M operates on E by α.(xi)i∈I=(α.xi)i∈I\alpha.(x_i)_{i \in I} = (\alpha.x_i)_{i \in I} and E, with this action, is an M-set; let E' be an M-set; a mapping f of E' into E is an M-morphism if and only if pri∘fpr_i \circ f is an M-morphism of E' into EiE_i for all i∈Ii \in I.

Let E be an M-set and F a stable subset of E under the action of M; with the induced law, F is an M-set and the canonical injection F→EF \to E is an M-morphism.

Let E be an M-set and R an equivalence relation on E compatible with the action of M; the quotient E/RE/R with the quotient action is an M-set and the canonical mapping E→E/RE \to E/R is an M-morphism.

Let ϕ:M→M′\phi : M \to M' be a monoid homomorphism, E an M-set and E' an M′M'-set. A mapping f of E into E' such that, for all x∈Ex \in E and α∈M\alpha \in M,

f(α.x)=ϕ(α).f(x) f(\alpha.x) = \phi(\alpha).f(x)

is called a ϕ\phi-morphism of E into E' (cf. §\S 3, no. 1).

Extension of a law of operation. Given (for example) three sets F1,F2,F3F_1, F_2, F_3, permutations f1,f2,f3f_1, f_2, f_3 of F1,F2,F3F_1, F_2, F_3 respectively and an echelon F on the base sets F1,F2,F3F_1, F_2, F_3 (Set Theory, IV, §\S 1, no. 1), we can define, proceeding step by step on the construction of the echelon F, a permutation of F called the canonical extension of f1,f2,f3f_1, f_2, f_3 to F (Set Theory, IV, §\S 1, no. 2); we shall denote it by ϕF(f1,f2,f3)\phi_F(f_1, f_2, f_3).

Then let G be a group and hih_i a homomorphism of G into the symmetric group of FiF_i (i=1,2,3i = 1, 2, 3), in other words an operation of G on FiF_i. The mapping x↦xF=ϕF(h1(x),h2(x),h3(x))x \mapsto x_F = \phi_F(h_1(x), h_2(x), h_3(x)) is a homomorphism of G into SF\mathfrak{S}_F, in other words an operation of G on F, called the extension of h1,h2,h3h_1, h_2, h_3 to F. Let P be a subset of F such that, for all x∈Gx \in G, xF(P)=Px_F(P) = P; let xPx_P be the restriction of xFx_F to

P; then the mapping x↦xPx \mapsto x_P is an operation of G on P, also called the extension of h1,h2,h3h_1, h_2, h_3 to P.

For example, let K and L be two echelons on F1,F2,F3F_1, F_2, F_3; take F to be the set of subsets of K×LK \times L and P to be the set of mappings of K into L, identified with their graphs. If w∈Pw \in P and x∈Gx \in G, xP(w)x_P(w) is the mapping k↦xL(w(xK−1(k)))k \mapsto x_L(w(x_K^{-1}(k))) of K into L.

2. Stabilizer, fixer

Definition 3

Let M be a monoid operating on a set E and A and B subsets of E. The set of α∈M\alpha \in M such that αA⊂B\alpha A \subset B (resp. αA=B\alpha A = B) is called the transporter (resp. strict transporter) of A to B. The transporter (resp. strict transporter) of A to A is called the stabilizer (resp. strict stabilizer) of A. The set of α∈M\alpha \in M such that αa=a\alpha a = a for all a∈Aa \in A is called the fixer of A.

An element α\alpha of M is said to stabilize (resp. stabilize strictly, resp. fix) a subset A of E if α\alpha belongs to the stabilizer (resp. strict stabilizer, resp. fixer) of A. A subset P of M is said to stabilize (resp. stabilize strictly, resp. fix) a subset A of E if all the elements of P stabilize (resp. strictly stabilize, resp. fix) A. The fixer of A is contained in the strict stabilizer of A which itself is contained in the stabilizer of A.

Proposition 1

Let M be a monoid operating on a set E and A a subset of E.* (a) The stabilizer, strict stabilizer and fixer of A are submonoids of M. (b) *Let α\alpha be an invertible element of M; if α\alpha belongs to the strict stabilizer (resp. fixer) of A, so does α−1\alpha^{-1}.

Let e be the identity element of M; then ea=aea = a for every element a∈Aa \in A and therefore e belongs to the fixer of A. Let α\alpha and β\beta be elements of E which stabilize A. Then (αβ)A=α(βA)⊂αA⊂A(\alpha \beta)A = \alpha(\beta A) \subset \alpha A \subset A and therefore the stabilizer of A is a submonoid of M. Similarly for the strict stabilizer and fixer of A, whence (a). If αA=A\alpha A = A, then A=α−1(αA)=α−1AA = \alpha^{-1}(\alpha A) = \alpha^{-1}A. If for all a∈Aa \in A, αa=a\alpha a = a, then a=α−1(αa)=α−1aa = \alpha^{-1}(\alpha a) = \alpha^{-1}a, whence (b).

Corollary

Let G be a group operating on a set E and A be a subset of E. The strict stabilizer S and the fixer F of A are subgroups of G and F is a normal subgroup of S.

The first assertion follows from the proposition and F is the kernel of the homomorphism of S into SA\mathfrak{S}_A associated with the operation of S on A.

A group G operates faithfully on a set E if and only if the fixer of E consists of the identity element of G. The fixer of E is the kernel of the given homomorphism of G into SE\mathfrak{S}_E; this homomorphism is injective if and only if its kernel consists of the identity element (§ 4, no. 5, Theorem 3).

Let M be a monoid, E an M-set and aa an element of E. The fixer, strict stabilizer and stabilizer of {a}\{a\} are equal; this monoid is called equally the fixer or stabilizer of aa. The fixer of a subset A of E is the intersection of the fixers of the elements of A. aa is called an invariant element of E if the fixer of aa is the monoid M. M is said to operate trivially on E if every element of E is invariant.

Proposition 2

Let G be a group operating on a set E and, for all x∈Ex \in E, let SxS_x be the stabilizer of x. For all α∈G\alpha \in G, Sαx=αSxα−1S_{\alpha x} = \alpha S_x \alpha^{-1}.

If s∈Sxs \in S_x, then αsα−1(αx)=αsx=αx\alpha s \alpha^{-1}(\alpha x) = \alpha s x = \alpha x, whence αSxα−1⊂Sαx\alpha S_x \alpha^{-1} \subset S_{\alpha x}. As x=α−1(αx)x = \alpha^{-1}(\alpha x), α−1Sαxα⊂Sx\alpha^{-1} S_{\alpha x} \alpha \subset S_x, whence Sαx⊂αSxα−1S_{\alpha x} \subset \alpha S_x \alpha^{-1}.

It is seen similarly that, if A and B are two subsets of E and T is the transporter (resp. strict transporter) of A to B, then the transporter (resp. strict transporter) of αA\alpha A to αB\alpha B is equal to αTα−1\alpha T \alpha^{-1}.

3. Inner automorphisms

Let G be a group. The set Aut(G) of automorphisms of the group G is a subgroup of GG\mathscr{G}_G (§ 4, no. 1, Example 2).

Proposition 3

Let G be a group. For every element x of G, the mapping Int(x): y↦xyx−1y \mapsto xyx^{-1} of G into itself is an automorphism of G. The mapping Int: x↦Int⁡(x)x \mapsto \operatorname{Int}(x) of G into Aut(G) is a group homomorphism, whose kernel is the centre of G and whose image is a normal subgroup of Aut(G).

If x,yx, y and zz are elements of G, then (xyx−1)(xzx−1)=xyzx−1(xyx^{-1})(xz x^{-1}) = xyz x^{-1} and hence Int(x) is an endomorphism of G. For xx and yy elements of G,

Int⁡(x)∘Int⁡(y)=Int⁡(xy): \operatorname{Int}(x) \circ \operatorname{Int}(y) = \operatorname{Int}(xy):

for all z∈Gz \in G, x(yzy−1)x−1=(xy)z(xy)−1x(yzy^{-1})x^{-1} = (xy)z(xy)^{-1}. On the other hand, Int⁡(e)\operatorname{Int}(e) is the identity mapping of G. The mapping Int is therefore a monoid homomorphism from G to the monoid End(G) of endomorphisms of the group G. As the elements of G are invertible, the mapping Int takes its values in the set Aut(G) of invertible elements of End(G) (§ 2, no. 3). Now xyx−1=yxyx^{-1} = y if and only if xx and yy commute and hence Int⁡(x)\operatorname{Int}(x) is the identity mapping of G if and only if xx is a central element. Finally, let α\alpha be an automorphism of G and let x∈Gx \in G; then

Int⁡(α(x))=α∘Int⁡(x)∘α−1. \operatorname{Int}(\alpha(x)) = \alpha \circ \operatorname{Int}(x) \circ \alpha^{-1}.

For y∈Gy \in G,

α(x)⋅y⋅α(x)−1=α(x)⋅α(α−1(y))⋅α(x)−1=α(x⋅α−1(y)⋅x−1). \alpha(x) \cdot y \cdot \alpha(x)^{-1} = \alpha(x) \cdot \alpha(\alpha^{-1}(y)) \cdot \alpha(x)^{-1} = \alpha(x \cdot \alpha^{-1}(y) \cdot x^{-1}).

Hence α⋅Int⁡(G)⋅α−1⊂Int⁡(G)\alpha \cdot \operatorname{Int}(G) \cdot \alpha^{-1} \subset \operatorname{Int}(G).

Definition 4

Let G be a group and x∈Gx \in G. The automorphism y↦xyx−1y \mapsto xyx^{-1} is called the inner automorphism of G defined by x and is denoted by Int⁡x\operatorname{Int} x.

For x,y∈Gx, y \in G, we also write xy=y−1xy=(Int⁡y−1)(x)x^y = y^{-1}xy = (\operatorname{Int} y^{-1})(x).

A subgroup of G is normal if and only if it is stable under all inner automorphisms of G (§ 4, no. 4, Definition 5). A subgroup of G is called characteristic if it stable under all automorphisms of G. The centre of a group G is a characteristic subgroup (formula (2)).

The centre of a group G is not necessarily stable under all endomorphisms of G (Exercise 22). In particular, the centre of a group with operators is not necessarily a stable subgroup.

Proposition 4

Let G be a group, H a characteristic (resp. normal) subgroup of G and K a characteristic subgroup of H. Then K is a characteristic (resp. normal) subgroup of G.

The restriction to H of an automorphism (resp. inner automorphism) of G is an automorphism of H and therefore leaves K invariant.

Let G be a group, A ⊂\subset G and b∈Gb \in G. b is said to normalize A if bAb−1=AbAb^{-1} = A; b is said to centralize A if, for all a∈Aa \in A, bab−1=abab^{-1} = a. Let A and B be subsets of G; B is said to normalize (resp. centralize) A if every element of B normalizes (resp. centralizes) A.

The set of g∈Gg \in G which normalize (resp. centralize) A is called the normalizer (resp. centralizer) of A (cf. § 1, no. 5, Definition 9); it is often denoted by NG(A)N_G(A) or simply N(A)N(A) (resp. CG(A)C_G(A) or C(A)C(A)). It is a subgroup of G. When A is a subgroup of G, NG(A)N_G(A) may be characterized as the largest subgroup of G which contains A and in which A is normal.

Remark

(1) The normalizer (resp. centralizer) of A is the strict stabilizer (resp. fixer) of A when G operates on itself by inner automorphisms. In particular the centralizer is a normal subgroup of the normalizer.

(2) The set of elements b∈Gb \in G such that bAb−1⊂AbAb^{-1} \subset A is a submonoid of G. Even when A is a subgroup of G, this set is not necessarily a subgroup of G (Exercise 27).

4. Orbits

Definition 5

Let G be a group, E a G-set and x∈Gx \in G. An element y∈Ey \in E is conjugate to x under the operation of G if there exists an element α∈G\alpha \in G such that y=αxy = \alpha x. The set of conjugate elements of x is called the orbit of x in E.

The relation "y is conjugate to x" is an equivalence relation. For x=exx = ex; if y=αxy = \alpha x, then x=α−1yx = \alpha^{-1} y; if y=αxy = \alpha x and z=βyz = \beta y, then z=βαxz = \beta \alpha x. The orbits are the equivalence classes under this relation.

A subset X of E is stable if and only if it is saturated with respect to the relation of conjugation.

The mapping α↦αx\alpha \mapsto \alpha x of G into E is sometimes called the orbital mapping defined by x. It is a G-morphism of G (with the operation of G on itself by left translation) into E. The image G.xG . x of G under this mapping is the orbit of x.

G is said to operate freely on E if, for all x∈Ex \in E, the orbital mapping defined by x is injective or also if the mapping (g,x)↦(gx,x)(g, x) \mapsto (gx, x) of G×EG \times E into E×EE \times E is injective.

Example

(1) Let G be a group and consider the operation of G on itself by inner automorphisms. Two elements of G which are conjugate under this operation are called conjugate under inner automorphisms or simply conjugate. The orbits are called conjugacy classes. Similarly, two subsets H and H' of G are called conjugate if there exists an element α∈G\alpha \in G such that H′=α.H.α−1H' = \alpha . H . \alpha^{-1}, that is if they are conjugate under the extension to P(G)\mathscr{P}(G) of the operation of G on itself by inner automorphisms.

(2) *In the space Rn\mathbf{R}^n, the orbit of a point x under the action of the orthogonal group O(n,R)\mathbf{O}(n, \mathbf{R}) is the Euclidean sphere of radius ∥x∥∗\|x\|_*.

The stabilizers of two conjugate elements of E are conjugate subgroups of G (no. 2, Proposition 2).

The quotient set of E under the relation of conjugation is the set of orbits of E; it is sometimes denoted by E/G or G\|E. (Sometimes the notation E/G is reserved for the case where E is a right G-set and the notation G\|E for the case where E is a left G-set.)

Let G be a group operating on a set E on the right. Let H be a normal subgroup of G. The group G operates on E/H on the right, the corresponding law of right action being (xH,g)↦xHg=xgH(xH, g) \mapsto xHg = xgH; under this operation, H operates trivially, whence a right operation of G/H on E/H. Let ϕ\phi be the canonical mapping of E/H onto E/G; the inverse images under ϕ\phi of the points of E/G are the orbits of G (or of G/H) in E/H. Hence ϕ\phi defines when passing to the quotient a bijection, called canonical, of (E/H)/G=(E/H)/(G/H)(E/H)/G = (E/H)/(G/H) onto E/G.

Let G (resp. H) be a group operating on a set E on the left (resp. right). Suppose that the actions of G and H on E commute, that is

(g.x).h=g.(x.h)for g∈G,x∈E and h∈H. (g.x).h = g.(x.h) \quad \text{for } g \in G, x \in E \text{ and } h \in H.

The action of H on E is also a left operation of the opposite group H0H^0 to H. It then follows from § 4, no. 9, Proposition 12 that the mapping which associates with the element (g,h)∈G×H0(g, h) \in G \times H^0 the mapping x↦g.x.hx \mapsto g . x . h of E into itself is a left operation of G×H0G \times H^0 on E. The orbit of an element x∈Ex \in E under this operation is the set GxHGxH. The set of these orbits is denoted by G∥E/HG\|E/H. On the other hand, the operation of G (resp. H) is compatible with the relation of conjugation with respect to the operation of H (resp. G) and the set of orbits G∥(E/H)G\|(E/H) (resp. (G∥E)/H(G\|E)/H) is identified with G∥E/HG\|E/H: in the diagram

E↙α↘βG∥EE/H↓εG∥E/H↘δ↙γ \begin{array}{ccc} & & E \\ & \swarrow_{\alpha} & \searrow_{\beta} \\ G\|E & & E/H \\ & \downarrow_{\varepsilon} & \\ & & G\|E/H \\ & \searrow_{\delta} & \swarrow_{\gamma} \end{array}

(where α,β,γ,δ,ε\alpha, \beta, \gamma, \delta, \varepsilon denote the canonical mappings of taking quotients), γ∘α=δ∘β=ε\gamma \circ \alpha = \delta \circ \beta = \varepsilon.

Let G be a group and H a subgroup of G. Consider the right operation of H on G by right translation (no. 1, Example 2). The set of orbits G/HG/H is the set of left cosets modulo H; note that G operates on G/HG/H on the left by the law (g,xH)↦gxH(g, xH) \mapsto gxH (cf. no. 5). Similarly, the set of right cosets modulo H is the set H\GH\backslash G of orbits of the left operation of H on G by left translation. If K is a subgroup of G containing H and Γ\Gamma is a left (resp. right) coset modulo H, then ΓK\Gamma K (resp. KΓK\Gamma) is a left (resp. right) coset modulo K. The mapping Γ↦ΓK\Gamma \mapsto \Gamma K (resp. Γ↦KΓ\Gamma \mapsto K\Gamma) is called the canonical mapping of G/HG/H into G/KG/K (resp. of H\GH\backslash G into K\GK\backslash G). It is surjective.

Let G be a group and H and K two subgroups of G. Let H operate on G on the left by left translation and K on the right by right translation; these two operations commute, which allows us to consider the set H\G/KH\backslash G/K. The elements of H\G/KH\backslash G/K are called the double cosets of G modulo H and K. When K=HK = H, we simply say double cosets modulo H. For the canonical mapping of G/HG/H onto H\G/HH\backslash G/H to be a bijection, it is necessary and sufficient that H be a normal subgroup of G.

5. Homogeneous sets

Definition 6

Let G be a group. An operation of G on a set E is called transitive if there exists an element x∈Ex \in E whose orbit is E. A G-set E is called homogeneous if the operation of G on E is transitive.

It is also said that G operates transitively on E; or that E is a homogeneous set under G. It amounts to the same to say that E is non-empty and that, for all elements xx and yy of E, there exists an element α∈G\alpha \in G such that α.x=y\alpha.x = y.

Example

If E is a G-set, each orbit of E, with the induced operation, is a homogeneous set under G.

Let G be a group and H a subgroup of G. Consider the set G/HG/H of left cosets modulo H. The group G operates on G/HG/H on the left by (g,xH)↦gxH(g, xH) \mapsto gxH. Let N be the normalizer of H. The group N operates on G/HG/H on the right by (xH,n)↦xHn=xnH(xH, n) \mapsto xHn = xnH. This operation induces on H the trivial operation and hence, on passing to the quotient, N/HN/H operates on G/HG/H on the right. Let ϕ:(N/H)0→SG/H\phi : (N/H)^0 \to S_{G/H} be the homomorphism corresponding to this operation.

Proposition 5

With the above notation, G/H is a homogeneous G-set. The mapping ϕ\phi induces an isomorphism of (N/H)0(N/H)^0 onto the group of automorphisms of the G-set G/H.

The orbit in G/HG/H of the element e=He = H is G/HG/H, whence the first assertion. We now prove the second. If n∈Nn \in N defines by right translation the identity mapping on G/HG/H, then e.n=ee.n = e, that is H.n=HH.n = H, whence n∈Hn \in H. Therefore

N/H operates faithfully on G/H on the right and ϕ\phi is injective. The left operation of G and right operation of N/H on G/H commute and hence the operators of N/H define G-morphisms of G/H into itself, which are necessarily G-automorphisms since they are bijective. Therefore ϕ\phi takes its values in the group Φ\Phi of G-automorphisms of G/H. We show that the image of ϕ\phi is Φ\Phi. Let f∈Φf \in \Phi. By transporting the structure, the stabilizer of f(e˙)f(\dot{e}) in G is equal to the stabilizer of e˙\dot{e} and hence to H. Let n∈Gn \in G be such that f(e˙)=ne˙f(\dot{e}) = n\dot{e}. The stabilizer of ne˙n\dot{e} in G is nHn−1nHn^{-1} (no. 2, Proposition 2), whence nHn−1=HnHn^{-1} = H and n∈Nn \in N. For every element xHxH of G/H, f(xH)=f(x.e˙)=x.f(e˙)=xnH=xHnf(xH) = f(x.\dot{e}) = x.f(\dot{e}) = xnH = xHn and ff coincides with the mapping defined by nn.

Remark

(1) Let G be a group, H a subgroup of G and ϕ:G→SG/H\phi : G \to \mathscr{S}_{G/H} the homomorphism corresponding to the operation of G on G/H. The kernel of ϕ\phi is the intersection of the conjugates of H (no. 2, Proposition 2). It is also the largest normal subgroup contained in H (no. 3). In particular, G operates faithfully on G/H if and only if the intersection of the conjugates of H reduces to {e}\{e\}.

(2) Let G be a group and H and K subgroups such that H is a normal subgroup of K. Then K/H operates on the G-set G/H on the right and the canonical mapping of G/H onto G/K defines on passing to the quotient a G-set isomorphism (G/H)/(K/H)→G/K(G/H)/(K/H) \to G/K (cf. no. 4).

Proposition 6

Let G be a group, E a homogeneous G-set, a∈Ea \in E, H the stabilizer of a and K a subgroup of G contained in H. There exists one and only one G-morphism f of G/K into E such that f(e.K)=af(e.K) = a. If K = H, f is an isomorphism.

If f is a solution, then f(x.K)=x.af(x.K) = x.a for all x in G, whence the uniqueness; we show the existence. The orbital mapping defined by a is compatible with the equivalence relation y∈xKy \in xK on G. For, if y=xk,k∈Ky = xk, k \in K, then

y.a=xk.a=x.a. y.a = xk.a = x.a.
A mapping f is thus derived of G/K into H which satisfies f(x.K)=x.af(x.K) = x.a for all x in G. This mapping is a G-morphism and f(K)=af(K) = a. This mapping is surjective for its image is a non-empty stable subset of E. Suppose now that K = H and let us show that f is injective. If f(x.H)=f(y.H)f(x.H) = f(y.H), then x.a=y.ax.a = y.a, whence x−1y.a=ax^{-1}y.a = a and x−1y∈Hx^{-1}y \in H, whence x.H=y.Hx.H = y.H.

Theorem 1

Let G be a group.* (a) Every homogeneous G-set is isomorphic to a homogeneous G-set of the form G/H where H is a subgroup of G. (b) *Let H and H' be two subgroups of G. The G-sets G/H and G/H' are isomorphic if and only if H and H' are conjugate.

As a homogeneous G-set is non-empty, assertion (a) follows from Proposition 6. We show (b). Let f:G/H→G/H′f : G/H \to G/H' be a G-set isomorphism. The subgroup H is the stabilizer of H and hence, by transport of structure, the stabilizer of an element of G/H′G/H'. The subgroups HH and H′H' are therefore conjugate (no. 2, Proposition 2). If H′=αHα−1H' = \alpha H \alpha^{-1}, H′H' is the stabilizer of the element α.H\alpha . H of G/HG/H (no. 2, Proposition 2) and hence G/H′G/H' is isomorphic to G/HG/H (Proposition 6).

Example

(1) Let EE be a non-empty set. The group SES_E operates transitively on EE. If xx and yy are two elements of EE, the mapping τ:E→E\tau : E \to E such that τ(x)=y\tau(x) = y, τ(y)=x\tau(y) = x and τ(z)=z\tau(z) = z for z≠x,yz \neq x, y, is a permutation of EE. Let a∈Ea \in E. The stabilizer of aa is identified with SFS_F, where F=E−{a}F = E - \{a\}. The homogeneous GG-set EE is thus isomorphic to SE/SFS_E / S_F.

(2) Let EE be a set of nn elements and (pi)i∈I(p_i)_{i \in I} a finite family of integers >0> 0 such that ∑ipi=n\sum_i p_i = n. Let XX be the set of partitions (Fi)i∈I(F_i)_{i \in I} of EE such that Card(Fi)=pi\mathrm{Card}(F_i) = p_i for all ii. The group SES_E operates transitively on XX. The stabilizer HH of an element (Fi)i∈I(F_i)_{i \in I} of XX is canonically isomorphic to ∏i∈ISFi\prod_{i \in I} S_{F_i} and is hence of order ∏i∈Ipi!\prod_{i \in I} p_i!. Applying Theorem 1 and § 4, no. 4, Corollary to Proposition 4, a new proof is obtained of the fact that

Card(X)=n!∏i∈Ipi! \mathrm{Card}(X) = \frac{n!}{\prod_{i \in I} p_i!}

In particular, take I={1,2,…,r}I = \{1, 2, \ldots, r\}, E={1,2,…,n}E = \{1, 2, \ldots, n\},

Fi={p1+⋯+pi−1+1,…,p1+⋯+pi} F_i = \{p_1 + \cdots + p_{i-1} + 1, \ldots, p_1 + \cdots + p_i\}

for 1≤i≤r1 \leq i \leq r. Let SS be the set of τ∈SE\tau \in S_E such that τ∣Fi\tau|_{F_i} is increasing for 1≤i≤r1 \leq i \leq r. If (G1,…,Gr)∈X(G_1, \ldots, G_r) \in X there exists one and only one τ∈S\tau \in S which maps (F1,…,Fr)(F_1, \ldots, F_r) to (G1,…,Gr)(G_1, \ldots, G_r). In other words, each left coset of SES_E modulo HH meets SS in one and only one point.

(3) *Let nn be an integer ≥1\geq 1. The orthogonal group O(n,R)O(n, \mathbf{R}) operates transitively on the unit sphere Sn−1S_{n-1} in Rn\mathbf{R}^n. The stabilizer of the point (0,…,0,1)(0, \ldots, 0, 1) is identified with the orthogonal group O(n−1,R)O(n-1, \mathbf{R}). The homogeneous O(n,R)O(n, \mathbf{R})-set Sn−1S_{n-1} is thus isomorphic to O(n,R)/O(n−1,R)O(n, \mathbf{R})/O(n-1, \mathbf{R}).

6. Homogeneous principal sets

Definition 7

Let GG be a group. An operation of GG on a set EE is called simply transitive if there exists an element xx of EE such that the orbital mapping defined by xx is a bijection. A set EE, together with a simply transitive left action of GG on EE, is called a left homogeneous principal GG-set (or left homogeneous principal set under GG).

It amounts to the same to say that GG operates freely and transitively on EE, or also that there exists an element x∈Ex \in E such that the orbital mapping defined by xx is an isomorphism of the GG-set GG (where GG operates by left translation) onto EE; or also that the two following conditions are satisfied:

(i) EE is non-empty. (ii) for all elements xx and yy of EE, there exists one and only one element α∈G\alpha \in G such that αx=y\alpha x = y.

Condition (ii) is also equivalent to the following condition:

(iii) the mapping (α,x)↦(αx,x)(\alpha, x) \mapsto (\alpha x, x) is a bijection of G×EG \times E onto E×EE \times E.

We leave to the reader the task of defining right homogeneous principal G-sets.

Example

(1) Let G operate on itself by left (resp. right) translation. Thus a left (resp. right) homogeneous principal G-set structure is defined on G, which is sometimes denoted by GsG_s (resp. GdG_d).

(2) Let E be a homogeneous set under a commutative group G. If G operates faithfully on E, the latter is a homogeneous principal G-set.

(3) Let E and F be two isomorphic sets with structures of the same species and let Isom(E, F) be the set of isomorphisms of E onto F (with the given structures). The group Aut(E) of automorphisms of E (with the given structure) operates on Isom(E, F) on the right by the law (σ,f)↦f∘σ(\sigma, f) \mapsto f \circ \sigma and Isom(E, F) is a right homogeneous principal Aut(E)-set. Similarly, the group Aut(F) operates on Isom(E, F) on the left by the law (σ,f)↦σ∘f(\sigma, f) \mapsto \sigma \circ f and Isom(E, F) is a left homogeneous principal Aut(F)-set.

(4) *A homogeneous principal set under the additive group of a vector space is called an affine space (cf. II, § 9, no. 1).

The group of automorphisms of the homogeneous principal G-set GsG_s (Example 1) is the group of right translations of G which is identified with G0G^0 (no. 5, Proposition 5). Let E be a homogeneous principal G-set and aa an element of E. The orbital mapping ωa\omega_a defined by aa is an isomorphism of the G-set GsG_s onto E. By transporting the structure an isomorphism ψa\psi_a is derived of G0G^0 onto Aut(E). It should be noted that ψa\psi_a in general depends on a; more precisely, for α∈G\alpha \in G,

ψαa=ψa∘Int⁡G0(α)=ψa∘Int⁡(α−1). \psi_{\alpha a} = \psi_a \circ \operatorname{Int}_{G^0}(\alpha) = \psi_a \circ \operatorname{Int}(\alpha^{-1}).

For, writing δa\delta_a for the translation x↦xαx \mapsto x \alpha on G,

ωαa=ϕωa∘δα \omega_{\alpha a} = \phi \omega_a \circ \delta_\alpha
and
ψa(x)=ωa∘δx∘ωa−1,x∈G, \psi_a(x) = \omega_a \circ \delta_x \circ \omega_a^{-1}, \quad x \in G,
whence
ψαa(x)=ωa∘δα∘δx∘δα−1∘ωa−1=ωa∘δα−1xα∘ωa−1=ψa(α−1xα). \psi_{\alpha a}(x) = \omega_a \circ \delta_\alpha \circ \delta_x \circ \delta_\alpha^{-1} \circ \omega_a^{-1} = \omega_a \circ \delta_{\alpha^{-1} x \alpha} \circ \omega_a^{-1} = \psi_a(\alpha^{-1} x \alpha).

7. Permutation groups of a finite set

If E is a finite set with nn elements, the symmetric group SE\mathfrak{S}_E (§ 4, no. 1) is a finite group of order n!n!. When E is the interval {1,n}\{1, n\} of the set N\mathbf{N} of natural numbers, the corresponding symmetric group is denoted by Sn\mathfrak{S}_n; the symmetric group of any set with nn elements is isomorphic to Sn\mathfrak{S}_n.

Definition 8

Let E be a finite set, ζ∈SE\zeta \in \mathfrak{S}_E a permutation of E and ζˉ\bar{\zeta} the subgroup of SE\mathfrak{S}_E generated by ζ\zeta. ζ\zeta is called a cycle if, under the operation of ζˉ\bar{\zeta} on E, there exists one and only one orbit which is not reduced to a single element. This orbit is called the support of ζ\zeta.

Let ζ\zeta be a cycle. The support supp⁡(ζ)\operatorname{supp}(\zeta) of ζ\zeta is the set of x∈Ex \in E such that ζ(x)≠x\zeta(x) \neq x.

The order of a cycle ζ\zeta is equal to the cardinal of its support. The subgroup ζˉ\bar{\zeta} generated by ζ\zeta operates transitively and faithfully on supp⁡(ζ)\operatorname{supp}(\zeta). As ζ\zeta is commutative, supp⁡(ζ)\operatorname{supp}(\zeta) is a principal set under ζˉ\bar{\zeta} (no. 6, Example 2) and hence Card⁡(supp⁡(ζ))=Card⁡(ζˉ)\operatorname{Card}(\operatorname{supp}(\zeta)) = \operatorname{Card}(\bar{\zeta}).

Lemma 1

Let (ζi)i∈I(\zeta_i)_{i \in I} be a family of cycles whose supports are pairwise disjoint. Then the ζi\zeta_i are pairwise permutable. Let σ=∏i∈Iζi\sigma = \prod_{i \in I} \zeta_i and σˉ\bar{\sigma} be the subgroup generated by σ\sigma. Then σ(x)=ζi(x)\sigma(x) = \zeta_i(x) for x∈Si,i∈Ix \in S_i, i \in I, and σ(x)=x\sigma(x) = x for x∉⋃i∈ISix \notin \bigcup_{i \in I} S_i. The mapping i↦Sii \mapsto S_i is a bijection of I onto the set of σˉ\bar{\sigma}-orbits not consisting of a single element.

Let ζ\zeta and ζ′\zeta' be two cycles whose supports are disjoint. If

x∉supp⁡(ζ)∪supp⁡(ζ′), x \notin \operatorname{supp}(\zeta) \cup \operatorname{supp}(\zeta'),
then ζζ′(x)=ζ′ζ(x)=x\zeta \zeta'(x) = \zeta' \zeta(x) = x. If xx belongs to the support of ζ\zeta, then ζ′(x)=x\zeta'(x) = x, and ζ(x)\zeta(x) belongs to the support of ζ\zeta, whence ζζ′(x)=ζ′ζ(x)=ζ(x)\zeta \zeta'(x) = \zeta' \zeta(x) = \zeta(x). Similarly when xx belongs to the support of ζ′\zeta', then ζ′ζ(x)=ζζ′(x)=ζ′(x)\zeta' \zeta(x) = \zeta \zeta'(x) = \zeta'(x). Hence ζζ′=ζ′ζ\zeta \zeta' = \zeta' \zeta. Therefore the ζi\zeta_i are pairwise permutable and, for i∈Ii \in I and x∈Six \in S_i, σ(x)=ζi(x)∈Si\sigma(x) = \zeta_i(x) \in S_i. The mappings σ\sigma and ζi\zeta_i coincide on SiS_i, hence SiS_i is stable under σ\sigma and the subgroup of SSi\mathfrak{S}_{S_i} generated by the restriction of σ\sigma to SiS_i operates transitively on SiS_i; therefore SiS_i is a σˉ\bar{\sigma}-orbit. As the SiS_i are non-empty and are pairwise disjoint, the mapping i↦Sii \mapsto S_i is injective. As ⋃iSi\bigcup_i S_i is the set of xx such that σ(x)≠x\sigma(x) \neq x, every σˉ\bar{\sigma}-orbit not consisting of a single element is one of the SiS_i.

Proposition 7

Let E be a finite set and σ\sigma a permutation of E. There exists one and only one finite set C of cycles satisfying the two following conditions:

(a) the supports of the elements of C are pairwise disjoints;

(b) σ=∏ζ∈Cζ\sigma = \prod_{\zeta \in C} \zeta (the elements of C being pairwise permutable by Lemma 1).

Let σˉ\bar{\sigma} be the subgroup generated by σ\sigma and let S be the set of σˉ\bar{\sigma}-orbits not consisting of a single element. For s∈Ss \in S, write ζs(x)=σ(x)\zeta_s(x) = \sigma(x) if x∈sx \in s and ζs(x)=x\zeta_s(x) = x if x∉sx \notin s. For all s∈Ss \in S, ζs\zeta_s is a cycle whose support is ss and σ=∏s∈Sζs\sigma = \prod_{s \in S} \zeta_s, as is seen by applying the two sides to any element of E. The uniqueness of C follows from Lemma 1.

Definition 9

A cycle of order 2 is called a transposition.

Let xx and yy be two distinct elements of E. Let τx,y\tau_{x,y} denote the unique transposition with support {x,y}\{x, y\}.

For every permutation σ\sigma of E the permutation σ⋅τx,y⋅σ−1\sigma \cdot \tau_{x,y} \cdot \sigma^{-1} is a transposition whose support is {σ(x),σ(y)}\{\sigma(x), \sigma(y)\}. Hence:

(4)

σ⋅τx,y⋅σ−1=τσ(x),σ(y). \sigma \cdot \tau_{x,y} \cdot \sigma^{-1} = \tau_{\sigma(x), \sigma(y)}.

Transpositions thus form a conjugacy class in the group SE\mathfrak{S}_E.

Proposition 8

Let E be a finite set. The group SE\mathfrak{S}_E is generated by the transpositions.

For every permutation σ\sigma let FσF_\sigma be the set of x∈Ex \in E such that σ(x)=x\sigma(x) = x. We show by descending induction on pp that every permutation σ\sigma such that Card(Fσ)=p\mathrm{Card}(F_\sigma) = p is a product of transpositions. If p≥Card(E)p \geq \mathrm{Card}(E), the permutation σ\sigma is the identity mapping of E; it is the product of the empty family of transpositions. If p<Card(E)p < \mathrm{Card}(E), suppose that the property is proved for every permutation σ′\sigma' such that Card(Fσ′)>p\mathrm{Card}(F_{\sigma'}) > p. Now E−Fσ≠∅E - F_\sigma \neq \varnothing; let x∈E−Fσx \in E - F_\sigma and y∈σ(x)y \in \sigma(x). Then y≠xy \neq x and y∈E−Fσy \in E - F_\sigma. Let σ′=τx,y⋅σ\sigma' = \tau_{x,y} \cdot \sigma. The set Fσ′F_{\sigma'} contains FσF_\sigma and xx and hence Card(Fσ′)>Card(Fσ)=p\mathrm{Card}(F_{\sigma'}) > \mathrm{Card}(F_\sigma) = p. By the induction hypothesis σ′\sigma' is a product of transpositions and hence σ=τx,y⋅σ′\sigma = \tau_{x,y} \cdot \sigma' is a product of transpositions.

Proposition 9

Let n be an integer ≥0\geq 0. The group Sn\mathfrak{S}_n is generated by the transpositions* (τi,i+1)1≤i≤n−1(\tau_{i, i+1})_{1 \leq i \leq n-1}.

By virtue of Proposition 8, it suffices to show that every transposition τp,q\tau_{p,q}, 1≤p<q≤n1 \leq p < q \leq n, belongs to the subgroup H generated by the τi,i+1\tau_{i, i+1}, 1≤i≤n−11 \leq i \leq n-1. We show this by induction on q−pq-p. For q−p=1q-p = 1, it is obvious. If q−p>1q-p > 1, then (formula (4)) τp,q=τq−1,qτp,q−1τq−1,q\tau_{p,q} = \tau_{q-1,q} \tau_{p,q-1} \tau_{q-1,q}. By the induction hypothesis τp,q−1∈H\tau_{p,q-1} \in H and therefore τp,q∈H\tau_{p,q} \in H.

If σ∈Sn\sigma \in \mathfrak{S}_n, every ordered pair (i,j)(i, j) of elements of {1,n}\{1, n\} such that i<ji < j and σ(i)>σ(j)\sigma(i) > \sigma(j) is called an inversion of σ\sigma. Let ν(σ)\nu(\sigma) denote the number of inversions of σ\sigma.

Let P be the additive group of mappings from Zn\mathbf{Z}^n to Z\mathbf{Z}. For f∈Pf \in P and σ∈Sn\sigma \in \mathfrak{S}_n, let σf\sigma f be the element of P defined by

(5)

σf(z1,…,zn)=f(zσ(1),…,zσ(n)). \sigma f(z_1, \ldots, z_n) = f(z_{\sigma(1)}, \ldots, z_{\sigma(n)}).

The action of Sn\mathfrak{S}_n on P thus defined is an operation; for all σ,τ∈Sn\sigma, \tau \in \mathfrak{S}_n and f∈Pf \in P, σf=f\sigma f = f and

(τ(σf))(z1,…,zn)=σf(zτ(1),…,zτ(n))=f(zτσ(1),…,zτσ(n))=((τσ)f)(z1,…,zn). \begin{align*} (\tau(\sigma f))(z_1, \ldots, z_n) &= \sigma f(z_{\tau(1)}, \ldots, z_{\tau(n)}) = f(z_{\tau \sigma(1)}, \ldots, z_{\tau \sigma(n)}) \\ &= ((\tau \sigma) f)(z_1, \ldots, z_n). \end{align*}
Formula (5) shows that σ(−f)=−σf\sigma(-f) = -\sigma f for σ∈Sn\sigma \in \mathfrak{S}_n and f∈Pf \in P.

Let pp be the element of P defined by

p(z1,…,zn)=∏i<j(zj−zi). p(z_1, \ldots, z_n) = \prod_{i < j} (z_j - z_i).

Lemma 2

p≠0p \neq 0 and σp=(−1)ν(σ)\sigma p = (-1)^{\nu(\sigma)} for σ∈Sn\sigma \in \mathfrak{S}_n.

p(1,2,…,n)=∏i<j(j−i)≠0p(1, 2, \ldots, n) = \prod_{i < j} (j - i) \neq 0 and hence p≠0p \neq 0. On the other hand, if σ∈Sn\sigma \in \mathfrak{S}_n, then

σp(z1,…,zn)=p(zσ(1),…,zσ(n))=∏i<j(zσ(j)−zσ(i)). \sigma p(z_1, \ldots, z_n) = p(z_{\sigma(1)}, \ldots, z_{\sigma(n)}) = \prod_{i < j} (z_{\sigma(j)} - z_{\sigma(i)}).

Let C be the set of ordered pairs (i,j)(i, j) such that 1≤i≤n, 1≤j≤n, i<j1 \leq i \leq n,\ 1 \leq j \leq n,\ i < j. A permutation θ\theta is defined on C by setting θ(i,j)=(σ(i),σ(j))\theta(i, j) = (\sigma(i), \sigma(j)) if (i,j)(i, j) is not an inversion, θ(i,j)=(σ(j),σ(i))\theta(i, j) = (\sigma(j), \sigma(i)) if (i,j)(i, j) is an inversion. This implies σp=(−1)ν(σ)p\sigma p = (-1)^{\nu(\sigma)} p.

Theorem 2

Let E be a finite set. There exists one and only one homomorphism ε\varepsilon from Sn\mathfrak{S}_n to the multiplicative group {−1,+1}\{-1, +1\} such that ε(τ)=−1\varepsilon(\tau) = -1 for every transposition τ\tau.

The uniqueness follows from Proposition 8. We show the existence. By transporting the structure, it may be assumed that E={1,n}E = \{1, n\}. Using the above notation, let ε(σ)=(−1)ν(σ)\varepsilon(\sigma) = (-1)^{\nu(\sigma)}. Then (Lemma 2)

σ(σ′p)=σ(ε(σ′)p)=ε(σ′)(σp)=ε(σ′)ε(σ)p. \sigma(\sigma' p) = \sigma(\varepsilon(\sigma') p) = \varepsilon(\sigma') (\sigma p) = \varepsilon(\sigma') \varepsilon(\sigma) p.

On the other hand,

σ(σ′p)=(σσ′)p=ε(σσ′)p. \sigma(\sigma' p) = (\sigma \sigma') p = \varepsilon(\sigma \sigma') p.

As p≠−pp \neq -p, it follows that ε(σσ′)=ε(σ)ε(σ′)\varepsilon(\sigma \sigma') = \varepsilon(\sigma) \varepsilon(\sigma') and thus ε\varepsilon is a homomorphism. We now show that, for every transposition τ\tau, ε(τ)=−1\varepsilon(\tau) = -1. ν(τn−1,n)=1\nu(\tau_{n-1, n}) = 1, whence ε(τn−1,n)=−1\varepsilon(\tau_{n-1, n}) = -1. As every transposition τ\tau is conjugate to τn−1,n\tau_{n-1, n} and the group {−1,+1}\{-1, +1\} is commutative, ε(τ)=ε(τn−1,n)=−1\varepsilon(\tau) = \varepsilon(\tau_{n-1, n}) = -1.

Definition 10

In the notation of Theorem 2, the number ε(σ)\varepsilon(\sigma) (also denoted εσ\varepsilon_\sigma) is called the signature of the permutation σ\sigma. The kernel of the homomorphism ε\varepsilon is called the alternating group of E.

σ\sigma is called even (resp. odd) if ε(σ)=1\varepsilon(\sigma) = 1 (resp. ε(σ)=−1\varepsilon(\sigma) = -1). The alternating group of E is denoted by AE\mathfrak{A}_E. It is a normal subgroup of SE\mathfrak{S}_E. When E={1,n}E = \{1, n\}, it is simply denoted by An\mathfrak{A}_n. When the cardinal nn of E is ≥2\geq 2, it is a subgroup of index 2 and hence of order n!/2n! / 2. It can be shown that, for n=3n = 3 or n≥5n \geq 5, the group An\mathfrak{A}_n is a simple group (cf. Exercise 16).

Example

If σ\sigma is a cycle of order dd, then

ε(σ)=(−1)d−1. \varepsilon(\sigma) = (-1)^{d-1}.
The number of inversions of the permutation
(1,2,3,…,d)↦(d,1,2,…,d−1) (1, 2, 3, \ldots, d) \mapsto (d, 1, 2, \ldots, d-1)
is equal to d−1d-1.

Exercises

See the exercises for § 5.

Transcribed from the printed edition, 1998, Springer. Not translated.