A NNALES DE LA FACULTÉ DES SCIENCES DE T OULOUSE
A NDRZEJ B I ´S
Entropy of topological directions
Annales de la faculté des sciences de Toulouse 6
esérie, tome 6, n
o1 (1997), p. 59-75
<http://www.numdam.org/item?id=AFST_1997_6_6_1_59_0>
© Université Paul Sabatier, 1997, tous droits réservés.
L’accès aux archives de la revue « Annales de la faculté des sciences de Toulouse » (http://picard.ups-tlse.fr/~annales/) implique l’accord avec les conditions générales d’utilisation (http://www.numdam.org/conditions).
Toute utilisation commerciale ou impression systématique est constitu- tive d’une infraction pénale. Toute copie ou impression de ce fichier doit contenir la présente mention de copyright.
Entropy of topological directions
ANDRZEJ
BI015A
RÉSUMÉ. 2014 Une entropie peut etre associée à chaque chemin du graphe
de Cayley d’un groupe engendré par un nombre fini de transformations
lipschitziennes. La notion de direction topologique introduite dans cet article nous permet d’étendre la définition de 1’entropie au cas "direction- nel" et d’étudier le comportement ergodique d’un groupe le long d’une
direction (et pas seulement de facon globale). L’entropie de la direc- tion topologique est introduite au moyen d’ensembles (n, ~)-séparés et,
de maniere équivalente, au moyen de recouvrements ouverts finis. Nous démontrons une relation entre l’entropie classique et 1’entropie d’une di-
rection topologique.
ABSTRACT. - An entropy can be attached to every path in the Cayley graph of a finitely generated group of Lipschitz transformations. The notion of a topological direction, introduced in this paper, allows us to carry the definition of entropy over the case of a direction and to study
the ergodic behaviour of a group along the direction (not only globally). .
The entropy of the topological direction is introduced by (n, ~)-separated
sets and, equivalently, by finite open coverings. A relationship between
classical entropy and entropy of a topological direction is shown.
1. Introduction
The notion of an end of a group was introduced in the 40’s
by
H. Freuden- thal[Fre]
and studiedagain by
J.Stallings [Sta]
and D. Cohen[Cohl], [Coh2]
in the 70’s. D. Cohen showed a new
approach
to thetheory
of ends of agroup which is
purely algebraic
in contradistinction to the combinatorical-topological approach
of H. Freudenthal and J.Stallings.
(*) Reçu le 23 janvier 1995
(1) Faculty of Mathematics, Lodz University, Ul. Stefana Banacha 22, 90 238 Lodz
(Poland)
The notion of a direction of a group, introduced in our paper, is a suitable tool
allowing
us to examine the action of the group on atopological
spacein a more subtle way than
by applying
thetheory
of ends.Using
aproperly
definedequivalence relation,
we obtain that the space of ends of a groupsplits
intoequivalence
classes-directions of the group.E.
Ghys,
R.Langevin
and P. Walczak[GLW]
introduced the notion of thetopological entropy
for afinitely generated pseudogroup
of localhomeomorphisms
of a metric space.They
defined thetopological
entropy of a foliationby
thetopological
entropy of theholonomy pseudogroup
ofthis foliation.
Making
use the samemethod,
one is able to introduce adefinition of the
topological
entropy of atopological
directionby (n, ~)- separated
sets,(n, ~)-spanning
sets andby
a finitecovering
of a space.There is an
equivalence
between thoseapproaches.
Theexamples
includedin this paper
emphasize
the relations between the classical entropy of ahomeomorphism,
theentropy
of afinitely generated pseudogroup,
definedin
[GLW],
and the entropy of thetopological
direction. We show that the entropy can be attached to everypath
in theCayley graph
of afinitely generated
group.Let G be a
finitely generated
group ofhomeomorphisms acting
on atopological
space X. We assume that G isgenerated by
a finite setGi,
G11 - Gi
andGo
= LetGm
.~g
E G : g = g1 ... , 9i EG1 ~
and let
Cay(G, Gi)
denote theCayley graph
of Ggenerated by Gi.
DEFINITION 1.1.2014 Recall that the word distance
d*( f, g)
between twoelements
of
G isdefined
as the smallest mfor
which EGm.
. Let Sbe the set
of
thepaths
in theCayley graph Cay(G, G1).
Moreprecisely,
S consists
of infinite
sequences such thatfn
E andGl, for
each n E N. We call twopaths ( fn ), (gn)
a --equivalent if
the sequences(n)
.-d*( fn, gn)
is bounded. Analgebraic
direction is an
equivalence
classof
the relation N.2.
Entropy
oftopological
directionsLet
(X, d)
be a compact metric space with a metricd,
G afinitely
DEFINITION 2.1. - Let S
be,
asbefore,
the setof
thepaths of
theCayley graph of
Ggenerated by
afinite
setG1.
. We call thepaths ( fn)
and(gn) of
S
~-equivalent if they
are~-equivalent
and there exists apositive
constantc such that
for
all n E N andfor
all x, y E X we haveA
topological
direction is anequivalence
classof paths
in this relation.Remark 2.2. - If X is a manifold and G a group with
C1-class
gener-ators, acting
onX,
then eachalgebraic
direction is atopological
direction(comp. Proposition 2.4).
DEFINITION 2.3.2014 Let
PROPOSITION 2.4. - Let M be a
compact
Riemannianmanifold
and G afinitely generated
groupof Lipschitz transformations defined
on M. Denoteby Gl
a setof generators of
G.Then each
algebraic
direction .~i =~( fp~~
~,generated by
elementsof
theset
Gl
determinesexactly
onetopological
direction.Proof.
- Atfirst,
we noticethat,
for any ai >0, b2
>0,
i =1 , 2,
... n ,we have the
inequality
The sequences
( fp)
and(gp)
represent the samealgebraic
direction.So,
forany i E N there exist
generators hi,l,
... ,, hz,2,
. - - EG1,
such thatand the sequence
s( i)
is boundedwhere
Àhi
is theLipschitz
constant for theLipschitz mapping hi
EGi.
In a similar way we obtain that there exists a constant 0 c« oo such that
{~~ y) n {~ y)
c . .
Putting
c =max~c~, c~~~,
we obtain therequired inequality. D
Consider a
topological
directionrepresented by
a sequence( fp)
.DEFINITION 2.5. - Let n E N and ~ > 0. A subset A
of
the space X is called(n,
6’)for
anyx, yEA
with x7~
y, we have{x, y)
> ~ .Let
s(n,
~,( f p))
be thelargest cardinality
of any(n,
~,( fp))-separated
subset of X.
LEMMA 2.6. - ~2, then
s {n, E1, (fp))
> .Proof. -
Each subset of X israted in X. 0
The above lemma
implies
the correctness of the definition below.DEFINITION 2.7.2014 Let
LEMMA 2.8. -
If
sequences( fp)
and(gp) represent
the sametopological direction,
then s(( fp)~
-s ((gp~~
.Proof.
- If~( fp)~
N =[(gp)]
N, there exists a constant c >0,
such that for all n ~ N and x, y ~ X we getLet A be an
~n, ~, ( fp))-separated
subset of X with thelargest cardinality.
Then,
for x,y E A
with x~
y, we obtainWhich
yields
that the set A is(n, e/c, (gp))-separated
in X and that theinequality
s
(n, I , (gp)) > s ( n, E, (fp)) .
.
holds. So
s«gp» > s«fp» .
.The
inequality s((gp)) s((fp))
is obtained in a similar way. a DEFINITION 2.9. - The numberh([fp])
:= s((fp))£%+
~,(fp).
°-
n~~ n
is called lhe
entropy of
lhetopological
direction[( fp)]
, in afinitely
gener- ated group G withrespect
10(abrev.: w,r.1. )
lhegenerating system Gi .
We can introduce the second
(equivalent)
definition of the entropy of thetopological
direction.DEFINITION 2.10.- Fiz n e Nand e > 0. We call a subset B
of
lhespace X an
(n,
e,(fp)) -spanning
selif for
any z e X there exists b e B such lhald(fp) (x, b)
~.Le1
r (n, e, ( fp))
denote lhe minimalcardinalily of
an(n, e, ( fp)) -spanning
subset
of
lhe space X.DEFINITION 2.11.2014 Let
LEMMA 2.12. -
If
a sequence(fp)
determines atopological
direction ina
finitely generated
groupG,
thenr(( fp))
=s(( fp)) .
.Proof.-
Let E be an(n, e, ( fp))-separated
set with thelargest
cardi-nality.
Then E is an(n,
e,(fp))-spanning
subset of X. Sos(n,
e,( fp)) >
r (n>
E>(fp)) .
Consider an
(n, e, (fp))-separated
set A in X and an(n,e/2, (fp))-
spanning
set B in X. Fix amapping
F : A - B such that for any z eA,
a
point F(z)
e B satisfies the condition(~> ~’~» ~ § °
The
mapping
F : A - B is one-to-one. Thecardinality
of the set A is notgreater
than thecardinality
of the setB,
therefore~l’~> ~> (fP)) ~ ’~ l’~> § > (fP)) °
Passing
to thelimit,
weget
Example
~. ~~ - Let G be afinitely generated isometry
groupacting
on a metric space X. Then the entropy of any
topological
direction in the group G with respect toGi
isequal
to zero.Indeed,
for any(n,
~,( fp))-separated
set A with thelargest cardinality,
we have that for all
x, yEA:
so
( fp))
=s(0,
~,( fp))
= constantand that is
why
the entropy of this direction isequal
to zero.Remark 2.14. - Let
G1
andHi
be two sets ofgenerators
of G. Let k := gEGimax{min{f = hil
... J E~i}} .
’Fix a sequence
(gp) representing
atopological
direction in(G,G1) Then,
there exists a sequence
(hm ) representing
atopological
direction in(G, H1 )
such that for every
p ~ N
weget
gp =hmp
Moreover,
if x, y E X are(n,
6;,(gp))-separated
in(G, Gi)
then xand y
are
(k .
n, c,(hm))-separated
in(G, H1). Denoting
theentropy
of(gp)
withrespect to
G1 by h ((gp), G1)
weget
that for certainpositive
number s:S 1
’G1) tt((ttm), H1)
sG1)
.Thus
h ((lZm ), H1)
= 0 lff1t ((9p)
= 0 .We can introduce an
entropy
of atopological
directionby using only
thefamily
of opencoverings
of the space.DEFINITION 2.15. - Let a and
/3
be opencoverings of
a space X. . Thena V
~3
is an opencovering of X
which consistsof
all sets An B where A E a, In a similar way we can define acovering
ai for a finitefamily
ofcoverings
of X :. n n-1
V ai
:=V ai
V an .i=1 i=1
We say that a
covering 13
is subtler than acovering
a if any element of13
isa subset of a certain element of a. We denote this
by a
-~13.
If a is an open
covering
of X andf :
: X --~ X is a continuousmapping,
then is an open
covering
of X which consists of all the sets of the formf -1 A,
A E a .DEFINITION 2.16. 2014 Denote
by
P thefamily of
all opencoverings of
thespace X. . For any U E P we
put
PROPOSITION 2.17..Let
(an)
be a sequenceof
opencoverings of
acompact
metric space X. . Assume that the diametersof
an tend to zero.Then there exists
limn~~
h*((fn), 03B1n)
; moreover,lim h*
((fn), 03B1n)
= h*((fn))
.Proof.
- Let h*((fn))
oo and ~ > 0. Choose acovering y
such thath* ~( fn), y~
>h* ~( fn)~
- ~. Denoteby
b theLebesgue
number for thecovering y.
Choose no suchthat,
for n > no the diameter of thecovering
an is less than b. Then the
covering
an is subtler than y, so y ~ an . Forany j
weget
thus
Finally
we obtain~* ~(fi ~l ~ ~* B(fi ~ ~ an~ ~ tt* B(fi ~ W’~ ~ ~((/.)) -~
~which proves that
h*
((fi))
=lim
h*((fi), an) .
.PROPOSITION 2.18. - ~et a sequence
( fn ) of
continuoustransformations of
acompact
metric space Xrepresent
atopological
direction Ii in a group G w.r.t.G1, acting
on X. . Then:~1~ for
anycovering
aof
X withLebesgue
numberb,
(2) for
any ~ > 0 and any opencovering y ofX, satisfying
the conditionwe have
Proof
.(1)
Let F be an(n, b/2, (/,))-spanning
set in X ofcardinality
r~n, b/2, ( fi)~
. ThenIf not, then there would exist some z such that
i.e. for any x E F there exists i E
~0,
...,, n~
such thatwhich
yields
theinequality
a contradiction with the
assumption
that F is an(n, 6/2, ( fj)) -spanning
setin X .
For each i the closed ball
B ~,fi (~), b/2~
is a subset of some set ofthe
covering
a, so(2)
Let E be an(n,
~,( fi))-separated
set ofcardinality s(n,
~,( fZ))
. Weclaim that no set of the
covering f-1i03B3
includes two distinct elements of E.Indeed,
if there exist distinct x, y E E such thatx, y E A
Ethen
, fi (y))
~ for any i E~0,
..., n~,
which contradicts theassumption
that x and y are(n,
~,(fi))-separated.
Therefore , ,
THEOREM 2.19. - Let G be a
finitely generated
groupof
continuous map-pings defined
on acompact
metric space X.Then, for
anyrepresentations
( fp)
and(gp) defining
the same direction ~i in G w. r. t.G1,
we obtain:Proof.
- Let ~ > 0. Consider thecovering
03B1~ of X which consists of all open balls with radius 6; and the opencovering
of X which consists of allopen balls with radius
~/2. Applying Proposition 2.18,
weget
Passing
with 6; to0,
we getso
We have
just proved
that,L C{f2 ~>
’If the sequences
( fn)
and(gn)
represent the sametopological direction,
then- h ~(9i )~
therefore,
h* ((fi))
=~* ~(gi ))
. 0~~ample
2.20(a)
Let M be acompact
metric space andf
: M --~ M ahomeomorphism.
Consider a group G
generated by f
and atopological
directionIi =
~(gi )~ N
defined in thefollowing
way: for every i E N let gi =/~.
There
exists
a classicaltopological entropy htop( f )
of themapping f
: ~VI -~M;
we also have the entropy of thetopological
direction Ii in G w.r.t.
Gi
= Then thefollowing equality
takesplace:
.
(b)
Let M be a compact metric space with metric d and letf :
: M -~ Mbe a
homeomorphism.
Fix numbers ci, c2 ci c2 . Let G =G( f )
be thecyclic
groupgenerated by f
. Consider another set ofgenerators
ofG,
the setG 1
> ... ,fc2, idM, .f C1
J , ..., f
.Fix a
topological
direction Ii =~{gi)~ N
in G w.r.t.G1,
definedby
gi = where
(ni )
is anincreasing
sequence ofpositive integers
suchthat
c2 = and ci = .
i~N i~N
We shall prove that the entropy of the
topological
direction Ii =~(gi)~ N
in G w.r.t.G1
satisfies theinequalities
c1 . htop(f) ~
h((gi)) ~
c2 .htop (f)
where
htop( f)
is theclassically
defined entropy off
: M -~ M .Let ~ > 0 and Take a minimal
(mc2,
~,(fi))-spanning
setA. Then for any x E M there exists a E A such that
and,
the more sothus the set A is
(m,
6’,and, consequently,
The
mapping f
isuniformly continuous,
so, for any ~ >0,
there exists 6 > 0 such that ify) 6,
thenFor an
(m, 6, ))-spanning
set B of minimalcardinality,
we havethat for any x E M there exists b E B such that
that is
why
therefore the set B is
tc1 m,
F,(fi))-spanning
andExample
2.21Let M be a compact manifold and G a
finitely generated
group of transformations of M. Asusual, G1
is a set ofgenerators
of G such thatidM
EG1.
Choose atopological
direction K =[(gi)]
in G w.r.t.G1.
In
[GLW,
p.106],
E.Ghys,
R.Langevin
and P. Walczak defined theentropy hGLW ( G, G1)
of G with respect toG1.
LetGm = ~ 91 ~
.. g~ ETwo
points
~, y E Mare(n,
~,(gi))-separated
if andonly
ifmax {d(gi(x), gi(y))} > ~,
and this occurs if there exists gio E
Gio , io
E{0,
...,n},
such thata 9io (y))
> ~ .Thus the
points,
x, y are(n, ~)-separated
in the sense of the definitiongiven
in paper[GLW,
p.106]. So,
thelargest cardinality
of an(n,
~,(gi))-
separated
set is less than orequal
to thecardinality
of an(n, ~)-separated
set in the sense of the definition from paper
~GLW~ . Besides,
~ ((gi )) ~ G1) . Generally hGLW
is not a supremum of all .PROPOSITION 2.22. - Let be the unit circle with Riemannian metric d and G a
finitely generated homeomorphism
groupof S‘1 generated by G1.
.Let Ii =
~(gi)~
, be atopological
direction in G w. r. t.G1.
. Then theentropy of
~i isequal to
zero.Proof.
-Using
thecontinuity
of elements ofG,
weget
that there exists~ > 0 such that for all x, y ~ S1 and g ~ G1:
y) _
~g(y))
1 .(*)
Choose ~
sufficiently
small tosatisfy
condition(*).
ThenLet A be an
(n - 1, ê, (fi))-spanning
set on the circle with the minimalcardinality.
Denoteby B
a subset of,S1
with minimalcardinality,
for whichthe distance between the closest
points
ofS‘1
is less than orequal
to E. ThenPut
C:=AU .
Fix a
point
x ES1.
Then there existssome y E A
such thatmax
{d(fi(x), fi(y))} ~ ~.
Define sets
Io, I1,
, ..., In-1, In
in thefollowing
way:(1) Ij
is an arc of with endpoints f~ (x)
andf~ ( y);
(2)
thehomeomorphism fj+1 f-1j
transforms the arcIj
onto the arcIj+1;
(3)
thelength
of the arcIn-i
is less than orequal
to ~.There exists z E C such that
fn(z)
EIn
andd(fn(x), fn(z))
~. Themapping ( f n f ~ 11 ~
1 tranformshomeomorphically
the arcIn
onto the arc. So
fn_1 {z)
EIn_1 ; that
iswhy
d (.fn-1 (~) (z)~ C
~ °Similarly,
(fn-l f-1n-2 B2014i
?In-1 homeo In-2
>SO
In_2
.It remains to show that
d ( fn_2 (~), fn_2 (z)~
ê. The arcIn-2
is thehomeomorphic image
ofIn-i
in themapping ( fn_1 fn 12~ 1.
The distancebetween end
points
ofIn-2
is less than orequal
to ~. Condition(*)
statesthat the
length
ofIn-2
is less than orequal
to1,
so the shortest way between and is included in the arcIn_2 ; that
iswhy
thelength
ofthe arc
In-2
is less than orequal
to ~. In consequence, we obtainRepeating
the aboveargumentation,
weget
theinequality
~x), f~ ~z)) ~
~which proves that the set C is
~n,
~,( f2 ))-spanning.
Notice thattherefore the
entropy
of the direction ~i isequal
to zero. 03.
Expansive topological
direction andentropy
DEFINITION 3.1. - Let K be a
topological
direction in afinitely generated
group G
of transformations of
acompact
metric space(X, d).
We say that K is anexpansive
direction with a constant b > 0if
there exists a sequence( fn) determining
the direction ~i such thatfor
every distinct x, yE X,
there exists m ~ N with the
following property:
y)
> ~ .PROPOSITION 3.2. Let G be a
finitely generated
groupof Lipschitz homeomorphisms of
acompact
Riemannianmanifold
M. Then theentropy of
everytopological
direction in G w. r. t.G1
isfinite.
Proof.
- Consider a sequence( f p )
such that~( f p )~
~ = .By
inductionwe obtain that for any
p ~ N
there existsap
> 0 suchthat
for any x, yEM,
,we
get
fp(y)) y)
.Assume that
03BBp
is the smallest number with this property. Let ~ > 0 and A be thelargest (n,
~,( fp))-separated
set in M.Then,
for any x,y E A,
wehave
Put
max ~ { ~i ~ i E ~0,
...,, n~ } U ~ 1 ~ ~
:=en .
Then for all x,yEA,
On d(x,y)
that is
why
A is( fp))-separated
and we have theinequality
hence
Having regard
to the fact that the volume of the ballB(r)
with radius rsatisfies the condition
vol B(r~ >
crm where m =dim M,
r E(0 , diamM],
c some
positive
numberdependent
on the curvature ofM,
we obtainNotice that
f
GG1 ~~ n
so.
That is
why
the sequence an :=1/n log en
is bounded andCOROLLARY 3.3. - Let M be a
compact
connected Riemannianmanifold
with metric d and let G be a
finitely generated
groupof C1-class transfor-
mations
of
M. Then:~1~
any generatorf of
the group Gsatisfies
the condition : there exists> 0 such that
for
all x, yE M,
f (y)) _ y)
~(2)
theentropy of
anytopological
direction K in G isfinite.
Example 3.1~
There are
examples
of anexpansive
directiongenerated by non-expansive generators.
Let F =Z2 operate
onR2 through
translations. EndowR2
with the standard metric d andT 2
=II82 , ~ 2
withquotient
metricd1
Define the
mappings 03C6, 03C8 : R2 ~ R2
in thefollowing
way:~(~1 ~ ~2) _ (~1
+ ~2 ~~2) ~
>03C8(x1, x2)
-(x1
, x1 +x2)
.These
mappings
inducebij ective mappings 4;1,
:T 2 -~ T 2
. Thegenerators ~1
and~1
are notexpansive
but thetopological
direction Kdetermined
by
the sequence( f n )
definedby:
is
expansive.
References
.
[Coh1]
COHEN (D.) .2014 Ends and Free Products of Groups, Math. Z. 114 (1970), pp. 9-18.[Coh2] COHEN (D.) .2014 Groups of Cohomological Dimension One, Springer-Verlag,
Lecture Notes in Math. 245 (1972).
[Fre] FREUDENTHAL (H.) .2014 Über die Enden diskreter Räume und Gruppen, Comm.
Math. Helvet 17 (1945), pp. 1-38.
[GLW] GHYS (E.), LANGEVIN (R.) and WALCZAK (P.) .2014 Entropie géométrique des feuilletages, Acta Mathematica 160 (1988), pp. 105-142.
[Sta] STALLINGS (J.) .2014 Group Theory and three-dimensional Manifolds, New Haven Yale Univ. Press, Yale Mathematical Monographs 4 (1971).