On Homotopy
On Homotopy
HOMOTOPY
ABSTRACT :- Two mathematical objects are said to be homotopic if one
can be continuously deformed into the other. The concept of homotopy was
first formulated by Poincare in Analysis Situs (1895), set forth the
fundamentals of homology. In this talk I would like to introduce the concept
of homotopy and then try to explore how it is used in solving one of the
major problem of point set topology namely when the two topological
spaces are homeomorphic to each other.
Where I = [0, 1] , is the unit closed subset of R, the set of real numbers.
The map H is called a homotopy between f and g. We also write H: f ≃ g,
when H is a homotopy between f and g .
This can be shown as below: - .
Note: There can be more than one homotopy between the two functions f
and g . For example H1 : Rn × I Rn defined by H1( x , t ) = ( 1-t2 )f(x) is
also a homotopy between f and g .
Remark. The first condition says that H is a homotopy between f and g and
the second condition says that for each t, the path f t defined by the equation
4
f t (s ) = H(s, t) is a path from x0 and x1 . In other words, the first condition
says that H represents a continuous way of deforming the path f to the path
g, and the second condition says that the ends points of the path remain fixed
during the deformation.
Theorem 1. The relation ≃ is an equivalence relation in the set C(X, Y) of
all continuous maps from X to Y.
Proof. If f C(X, Y), then H : f ≃ f, where H is defined by
H(x, t) = f (x) for all x X and t I = [0, 1]
And if f, g C(X, Y) and H1 : f ≃ g, then H2 : g ≃ f,
where H2(x, t) = H1(x, 1 – t) for all x X and t I
Further, if f, g, h C(X, Y) and H1 : f ≃ g and H2 : g ≃ h, then
H3 : f ≃ h, where
1
H 1 ( x , 2 t ) 0≤t ≤
2
H3(x, t) = 1
H 2 ( x, 2 t − 1) ≤ t ≤1
2
is continuous on X I, since it is continuous on each of the closed
1 1
subsets X 0, 2
and X 2 , 1 ,
the result follows by pasting lemma.
Hence ≃ is an equivalence relation.
Theorem 2. The relation ≃p is an equivalence relation in the set C(I, X)
of all paths in X having the same initial and terminal points.
Proof. In the above theorem replace the cont. maps f, g, h by paths in X.
Theorem 3. If h, h : X Y are homotopic and k, k : Y Z are
homotopic, then k o h and k o h are homotopic.
In other words composites of homotopic maps are homotopic.
Proof. Since h, h : X Y are homotopic from X to Y
a continuous map H1 : X I Y such that
H1(x, 0) = h(x) , H1(x, 1) = h (x) , x X
Also k, k : Y Z are homotopic from Y to Z
a continuous map H2 : Y I Z such that
H2(y, 0) = k(y) , H2(y, 1) = k (y), y Y
Clearly, k o H1 : X I Z is a continuous map such that
(k o H1) (x, 0) = k(H1(x, 0)) = k(h(x)) = (k o h) (x)
and (k o H1) (x, 1) = k(H1(x, 1)) = k(h (x)) = (k o h ) (x)
k o H1 is the homotopy between k o h and k o h
i.e. k o H1 : k o h ≃ k o h
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Now, By transitivity of the homotopy relation, it remain to construct a
homotopy between k o h and k o h .
Define H : X I Z by
H(x, t) = H2(h (x), t) , x X, t I.
Then H is a composite of continuous functions and hence continuous
and
H(x, 0) = H2(h (x), 0) = k(h (x)) = (k o h ) (x)
H(x, 1) = H2(h (x), 1) = k (h (x)) = (k o h ) (x)
H is a homotopy between k o h and k o h
i.e. H:koh ≃k oh
Thus k o H1 : k o h ≃ k o h and H : k o h ≃ k o h
By transitivity of the homotopy relation
koh≃k oh
i.e. k o h and k o h are homotopic.
Definition (Homotopy and path homotopy equivalence classes)
The equivalence classes in C(X, Y) under the relation ≃ are called the
homotopy equivalence classes in C(X, Y).
Similarly, the equivalence class in C(I, X) under the relation ≃p are
called the path homotopy equivalence classes.
Note : If f is a path in X, then its path-homotopy equivalence class is
denoted by [ f ]
Thus [ f ] = { g : [0, 1] X such that g ≃p f }
FUNDAMENTAL GROUP
Now we introduce some algebra into this geometric situation. We define a
certain operation on path-homotopy classes as follow:-
1
f (2 s ) for s ∈ 0,
2
h( s ) =
g (2 s − 1) for s ∈ 1 , 1
2
Thus [ f1 ] * [ f 2 ] = [ f1 * f 2 ]
* is a binary operation on 1(X, x0 )
For the associatively, it is sufficient to show that ( f * g ) * h ≃ x f * ( g * h)
0
vv
The bottom line represents f * ( g * h) . A homotopy between f * ( g * h)
and ( f * g ) * h can then be constructed by allowing the action of f, g and h to
be divided at time t as shown.
For identity, let e x denote the constant loop e x 0 (t ) = x0 for all t I. We claim
0
f*f x0 e xo fe * f x0 e xo
≃ and ≃
1− t
f ( x) 0≤ x≤
2
1− t
First, let H(x, t) = f ( x + t ) ≤ x ≤1− t
2
x0 1− t ≤ x ≤1
The function H is continuous on each of the three closed sets which
cover the square and thus continuous.
Clearly H(x, 0) = ( f * f ) ( x) and H(x, 1) = e xo (x) for all x I.
The homotopy showing that f * f ≃ x e xo is similarly constructed.
0
9
Hence 1(X, x0) with the operation * is a group.
Remark.(1) The fundamental group 1(X, x0) is also called the first
homotopy group of X. There are indeed groups n(X, x0) for all n Z+, but
we shall not study this here. They are part of the general subject called
homotopy theory.
(2) From the structure of 1(X, x0) we may obtain local character of the
space at x0 . For example : if 1(X, x0) is the trivial group i.e. the group
whose only element is the identity e x , then every path at x0 is homotopic to
0
e x and intuitively this mean , for example , that there is no “holes” which
0
Define a map
αˆ : π 1 ( X, x0 ) → π 1 ( X, x1 ) by αˆ ([ f ]) = [α ] * [ f ] * [α ]
The map α̂ , known as ‘‘ -hat’’, is well-defined, for the operation * is
well-defined. If f is a loop based at x0 , then α * ( f * α ) is a loop based at x1 .
Note : The map α̂ depends only on the path-homotopy class of .
Theorem 5. If x0 , x1 ε X and be a path in X from x0 to x1. Then
the map α̂ : 1(X, x0) 1(X, x1) is a group isomorphism.
= [α ] * [ f ] * [ g ] * [α ]
= αˆ ([ f ] * [ g ])
For second, we show that if denotes the path α , which is the reverse
of , then β̂ is an inverse of α̂ .
We compute for each element [h] of (X, x1),
1
= [h]
Similarly, we can show that
βˆ (αˆ ([ f ])) = [ f ] , for each [ f ] 1 (X, x0)
⇒ β̂ is the inverse of α̂ and vice a versa and so α̂ is one – one and onto.
Hence α̂ is an isomorphism.
Corl. If X is an arcwise connected space (or path connected space) and
x0 and x1 are two points of X, then 1(X, x0) is isomorphic to 1(X, x1).
Note : (1) From above , we notice that in case of arcwise connected space
(or path connected space) X, the fundamental group of X do-not depends
upon the base point. Thus in this case we can speak of fundamental group
1(X) of X. This will cause us no difficulty here but create problem over
simplification in a deeper study of fundamental group.
(2) The above corollary is not true if the condition of space being path
connected is omitted. Even if X is connected , the corollary need not be true.
Theorem 6. Let be a path in X from x0 to x1, let be a path in X
from x1 to x2 and if = * , then γˆ = βˆ o αˆ i.e. α * β = βˆ o αˆ .
Proof. Since be a path in X from x0 to x1 and is a path in X
from x1 to x2 and = * . Therefore is a path in X from x0 to x2 .
To show that γˆ = βˆ o αˆ .
Let [ f ] 1 (X, x0) be any element.
( βˆ o αˆ ) [ f ] = βˆ (αˆ ([ f ]))
= βˆ ([α ] * [ f ] * [α ])
= [ β ] * [α ] * [ f ] * [α ] * [ β ]
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= [ β * α ] * [ f ] * [α * β ]
= [ α * β ] * [ f ] * [α * β ]
= [γ ] * [ f ] * [γ ]
= γˆ ([ f ])
βˆ o αˆ = γˆ.
As we know that the map α̂ depends only on the path-homotopy class of .
Now the question arises “ is there any situation where the α̂ is independent
of . To this direction we have the following theorem:
Theorem 7. If be a path in X from x0 to x1 and if
α̂ : 1(X, x0) 1(X, x1) , be the isomorphism determined by the path .
Then α̂ is independent of if and only if 1(X, x0) is abelian group .
Proof. Firstly , let 1(X, x0) be an abelian group
Let and be any paths from x0 and x1
α̂ = f * β
∴ α̂ ( [g ] ) = f * β ( [g ] )
( [α * g * α ] ) = [ f * β * g * f * β ]
( [α * g * α ] ) = [ β * f * g * f * β ]
Pre Multiplying by [α ] and post multiplying by [α] , we get
[α ] *( [α * g * α ]) * [α
] = [α ] *( [ β * f * g * f * β ] )* [α ]
[α * α * g * α * α ] = [α * β * ( f * g * f ) * β * α ]
[g ] = [e x * f * g * f * e x 0 ]
0
[g ] = [ f * g * f ]
Pre Multiplying by [ f ] , we get
[ f ]*[ g] = [ f ] * [ f * g * f ]
[ f ]*[ g] = [ f * f * g * f ] = [g * f ] = [g ] *[ f ]
Hence 1(X, x0) be an abelian group
⇒ [α * β ] = [ex0 ] and so
[α * β ] * [ β ] = [e x0 ] * [ β ] = [e x0 * β ] = [ β ]
Also [α * β ] * [ β ] = [α * β * β ] = [α * ex0 ] = [α ]
Thus , we have [ ] = [ ] ⇒ α ≃p β .
The two paths, having the same initial and final points in a simply
connected space are path homotopic.
Definition. Let h : (X, x0) (Y, y0) be a continuous map that carries the
point x0 of X to the point y0 of Y.
Define h* : 1(X, x0) 1(Y, y0) by
h* ([ f ]) = [h o f ]
The map h* is called the homomorphism induced h, relative to the base
point x0.
Remark :The map h* is well-defined, for if H: f ≃p f′ be the paths
homotopy between f and f′ , where f and f′ are paths at x0 . Let g and g′
be paths at y0 defined by g = h o f and g′ = h o f .
The we show that h o H : g ≃p g′ .
As both h : X Y and H : I×I X are continuous and so is the
composite map h o H : I×I Y is also continuous .
Moreover , h o H( x, 0) = h(H( x, 0)) = h( f (x)) = h o f (x) = g(x) 0.
and h o H( x, 1) = h(H( x, 1)) = h( f′ (x)) = h o f ′(x) = g′ (x)
h o H( 0, t) = h(H( 0, t)) = h( x0)) = y0
h o H( 1, t) = h(H( 1, t)) = h( x0)) = y0
Thus , we have h o H( x, 0) = g(x) , h o H( x, 1) = g′(x) and
h o H( 0, t) = h o H( 1, t) = y0 .
and so h o H : g ≃p g′ .
Also h* is a homomorphism , for let [ f ] , [ g ] ε 1(X, x0) . Then
h* ([ f ] * [ g ]) = [h o ( f * g )] =[ (h o f) * (h o g)]
= [h o f ] *[ h o g]
= h* ([ f ]) * h* ([ g ])
Note : The homomorphism h* depends not only on the map h : X Y but
also on the choice of base point x0 (once x0 is chosen, y0 is determined by
h). To avoid notational difficulty we use the notation.
(hx0 )* : π 1 ( X, x0 ) → π 1 (Y, y0 )
Theorem 9. If h : (X, x0) (Y, y0) and k : (Y, y0) (Z, z0) are
continuous, then (k o h)* = k* o h* .
If i : (X, x0) (X, x0) is the identity map, then i* is the identity
homomorphism.
Proof. Since h : (X, x0) (Y, y0) and k : (Y, y0) (Z, z0) are continuous
∴ k o h : (X, x0) (Z, z0) is also continuous . Then by definition
15
(k o h)* ([ f ]) = [(k o h) o f ]
Also, (k* o h* ) ([ f ]) = k* (h* ([ f ]) = k* ([h o f ])
= [k o (h o f )]
= [(k o h) o f ]
Thus (k o h)* ([ f ]) = (k* o h* ) ([ f ]) , [ f ] 1(X, x0)
(k o h)* = k* o h*
Moreover, i* ([ f ]) = [i o f ] = [ f ]
i* ([ f ] * [ g ]) = i* ([ f * g ]) = [ f * g ] = [ f ] * [ g ]
= i* ([ f ]) * i* ([ g ])
Hence i* is the identity homomorphism.
Corl. If h : (X, x0) (Y, y0) is a homeomorphism of X with Y, then
h* : 1(X, x0) 1(Y, y0) is an isomorphism.
Proof. Let i, j be the identity map of (X, x0) and (Y, y0) respectively. Then
i* , j* be their respective identity homomorphism of the groups 1(X, x0) and
1(Y, y0). Let k : (Y, y0) (X, x0) be the inverse of h : (X, x0) (Y, y0).
Then, we have
k* o h* = ( k o h)* = i* and
h* o k* = ( h o k )* = j*
This imply, that k* is the inverse of h* .
h* is one-one and onto.
For homomorphism, let [ f ], [ g] 1(X, x0) be two elements
Then h* ([ f ] * [ g ]) = h* ([ f * g ])
= [h o (f * g)]
= [(h o f) * (h o g)]
= [h o f] * [h o g]
= h* ([ f ]) * h* ([ g ])
Hence h* is an isomorphism.
Corl. If i : (X, x0) (Y, y0) be the identity map and
j : (Y, y0) (X, x0) be the identity map, then
(i o j )* = i* o j* , is the identity on 1(X, x0)
and ( j o i )* = j* o i* , is the identity on 1(Y, y0)
Definition. (Homotopically equivalent spaces )
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Two topological spaces X and Y are homotopically
equivalent or of same homotopy type iff there exist continuous mapping h
: X Y and k : Y X such that h o k ≃ iY and k o h ≃ iX
We observe that two homeomorphic spaces are of the same homotopy type
For, suppose X and Y are homeomorphic and let h :X Y be a
-1
homeomorphism . Then the inverse map h : Y X is continuous and
satisfies the condition that h-1 o h ≃ i X and h o h-1 ≃ iY . This mean h is a
homotopy equivalence, i.e. X and Y are of the same homotopy type .
The converse is not true.
For example:-Consider the unit disk Ď2 (open or closed) and a point x0 εĎ2.
Let i : P = { x0 } Ď2 be the inclusion map and e x : Ď2 P be a constant
0
Thus, Ď2 is of the same homotopy type as a point P and these are clearly not
2
homeomorphic . More-over 1(Ď , x0) = 1(P, x0) =0.
Theorem 10. If (X, x0) and (Y, y0) are homotopically equivalent, then
1(X, x0) and 1(Y, y0) are isomorphic.
Proof. Since (X, x0) and (Y, y0) are homotopically equivalent
mapping h : (X, x0) (Y, y0) and k : (Y, y0) (X, x0) such that
h o k ≃ iY and k o h ≃ i X
h o k is homotopic to the identity on Y and k o h is homotopic to the
identity on X.
Now h* : 1(X, x0) 1(Y, y0) and k* : 1(Y, y0) 1(X, x0) are
homomorphism Also by above corl., we have
h* o k* = ( h o k )* is the identity on 1(X, x0)
and k * o h* = ( k o h) * is the identity on 1(Y, y0)
Thus h* and k * are isomorphism and hence proved the theorem.
Remark : From the above example and theorem we see that if the
fundamental groups of two spaces are isomorphic , we can not say that the
two spaces are homeomophic to each other , however when the two spaces
are homeomorphic to each other then their fundamental groups are
isomorphic . This gives us a very important tool to say that two topological
spaces are not homeomorphic to each other.
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Theorem 11. Let X and Y be two spaces with base x0 ε X and y0 ε Y,
respectively . Then
π1( X × Y , ( x0 , y0 ) ) ≅ π1( X, x0 ) × π1( Y, y0 )
i.e. the fundamental group of the product space is isomorphic to the product
of the fundamental groups of factors.
Proof . Suppose α : I X × Y is a loop based at ( x0 , y0 ) and let
p1 : X × Y X , p2 : X × Y Y are the projection mapping . Then
p1 , p2 induces group homomorphism
p1* : π1( X × Y , ( x0 , y0 ) ) π1( X, x0 ) and
defined by ρ( [α ] ) = ( [p1 α ] , [p 2 α ] ).
Now it is sufficient to show that ρ is a bijection .
For this , first we note that given a pair of continuous maps f : I X ,
g: I Y , there is , by definition of product topology , a continuous map
( f , g ) : I X × Y defined by ( f , g )(t) = ( f (t) , g(t) ) , ∀ t ε I
conversely , any continuous map h : I X × Y defines a pair of continuous
maps p1 α : I X and p 2 α : I Y . Moreover there is one-to –one
correspondence between the set of all continuous maps h : I X × Y and
the set of pairs ( p1 α , p 2 α ) of continuous maps .
Now , let ( [α ] , [ β ] ) ε π1( X, x0 ) × π1( Y, y0 ) . Then the pair (α , β) of
loops based at x0 and y0 respectively corresponds to the loops
(α , β) : t (α(t) , β(t)) in X × Y based at (x0 , y0 ) and defines a map
clearly , this is a continuous map which simply wraps the real line ℝ onto
the circle S1 infinite number of times
More over it has a nice property that each path α : I S1 with initial point
α(0) = po ε S1 can be lifted to a unique path α′ : I ℝ s.t. α′ (0) = 0 ε ℝ.
The path α′ need not be a path at 0, that is α′(1) need not be 0. But because
poα′= α , α′(1) must belong to the kernel of p , i.e. α′(1) ε ℤ . The integer
α′(1) is the number of complete revolution of S1(counterclockwise if α′(1)
is positive and clockwise if α′(1) is negative)made by any element of [α]
this integer is called the degree of the loop α .so deg([α]) = deg( α) .
This defines a map f : π1(S1, po ) ℤ defined by f ([α] ) = deg( α)
Now we shall show that f is an isomorphism.
For Homomorphism : Let [α] , [β] be any two elements of π1(S1, po ) .
Let α′ , β ′ : I ℝ be the unique paths starting from origin of ℝ which are
lifts of α and β, respectively . Define a new path ω : I ℝ by
' 1
α (2t ) for t ∈ 0,
2
ω (t) =
α ' (1) + β ' (2 t − 1) for t ∈ 1 , 1
2
2
p o ω (t) =
( poα ' )(1) + .( poβ ' )(2 t − 1) for t ∈ 1 , 1
2
1
α (2 t ) for t ∈ 0,
2
=
β ( 2 t − 1) for t ∈ 1 , 1
2
= (α* β)( t ) , ∀ t ε I.
Thus , ω is a lift of α* β starting from the origin .
∴ deg([ α]*[β ] ) = deg ([ α* β ] ) = ω(1) = α′(1) + β′(1)
= deg([α] ) + deg( [β] ) .
and thus , we have
f ( [ α]*[β ] ) = f ( [ α* β ] ) = deg(α* β) = deg(α) + deg(β)
= f ([α]) + f ([β])
f is one-one map:Let [α] , [β] ε π1(S1, po ) such that deg([α] ) = deg( [β] )
This mean that if α′ : I ℝ , β ′ : I ℝ are lift of α , β
respectively starting from origin , then α′(1) = β′(1).
Define a homotopy H : I × I ℝ by
H(s ,t ) = (1-t) α′(s) + t β′(s) , (s , t) ε I × I
Then H is a homotopy between α and β′ relative to {0,1}.
′