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Scott Harper

Publications and source records attributed to Scott Harper.

At least 19 recordsLinked to original sources
arXiv2026

Generating simple vigorous groups

The simple vigorous groups form a broad class of groups of homeomorphisms of Cantor space that includes Thompson's group $V$, its various generalisations and many others such as Nekrashevych's groups of dynamical origin. Bleak, Elliott and Hyde (2024) proved that every finitely generated simple vigorous group is $2$-generated, and, in this paper, we give several strong generation results for this class of simple groups. For example, we prove that if $G$ is a finitely generated simple vigorous group, then $G$ is generated by three involutions, $G$ is generated by an element of order $m$ and an element of order $n$ for any choice of $m \geq 2$ and $n \geq 3$, $G$ has a minimal generating set of size $k$ for all $k \geq 2$, every nontrivial element of $G$ is contained in a generating pair and the direct power $G^n$ is $2$-generated for all $n$. These results are analogous to well-known results for finite simple groups, but of course the proofs in this context are quite different. One consequence of our results is that Thompson's group $V$ is $(2, 3)$-generated, which answers a question of Sapir (2017). Another consequence is that every finitely generated group quasi-isometrically embeds in a $(2, 3)$-generated simple group, strengthening theorems of Hall (1974) and Bridson (1998). All of our proofs are constructive, and we establish several new generation criteria for these groups, which we expect to be of wider interest, even just for Thompson's group $V$.

math.GR↗
arXiv2026

The probability of generating finite and profinite groups

Famously, every finite simple group $G$ can be generated by a pair of elements. Moreover, Liebeck and Shalev (1995) proved that the probability that a pair of elements generate $G$ tends to $1$ as $|G| \to \infty$. In this paper, we generalize this theorem of Liebeck and Shalev. Work of Lucchini and Menegazzo (1997) implies that a finite group $G$ can be generated by a pair of elements if it has a unique chief series. As a consequence of our main theorem, the probability that a pair of elements generate such a group $G$ tends to $1$ as $|S| \to \infty$, where $S$ is the unique simple quotient of $G$. We also prove that a profinite group $G$ with finitely many chief series has a topological generating set of size $d < \infty$, and for any such $d$, the probability that a $d$-tuple of elements topologically generates $G$ is positive; moreover, we can take $d = 2$ if $G$ has a unique chief series. Along the way, we show that the chief factors of a finite group with a unique chief series are highly constrained, and we also analyze the maximal subgroup zeta function of a finite group with a unique minimal normal subgroup.

math.GR↗
arXiv2025

Classifying the groups of order $p q$ in Lean

This note discusses our formalisation in Lean of the classification of the groups of order $p q$ for (not necessarily distinct) prime numbers $p$ and $q$, together with various intermediate results such as the characterisation of internal direct and semidirect products.

cs.LO↗
arXiv2024

Kronecker classes, normal coverings and chief factors of groups

For a group $G$, a subgroup $U \leq G$ and a group $\mathrm{Inn}(G) \leq A \leq \mathrm{Aut}(G)$, we say that $U$ is an $A$-covering group of $G$ if $G = \bigcup_{a\in A}U^a$. A theorem of Jordan (1872) implies that if $G$ is a finite group, $A = \mathrm{Inn}(G)$ and $U$ is an $A$-covering group of $G$, then $U = G$. Motivated by a question concerning Kronecker classes of field extensions, Neumann and Praeger (1988) conjectured that, more generally, there is an integer function $f$ such that if $G$ is a finite group and $U$ is an $A$-covering subgroup of $G$, then $|G:U| \leq f(|A:\mathrm{Inn}(G)|)$. A key piece of evidence for this conjecture is a theorem of Praeger (1994), which asserts that there is a two-variable integer function $g$ such that if $G$ is a finite group and $U$ is an $A$-covering subgroup of $G$, then $|G:U|\leq g(|A:\mathrm{Inn}(G)|,c)$ where $c$ is the number of $A$-chief factors of~$G$. Unfortunately, the proof of this result contains an error. In this paper, using a different argument, we give a correct proof of this theorem.

math.GR↗
arXiv2024

Derangements in intransitive groups

Let $G$ be a nontrivial permutation group of degree $n$. If $G$ is transitive, then a theorem of Jordan states that $G$ has a derangement. Equivalently, a finite group is never the union of conjugates of a proper subgroup. If $G$ is intransitive, then $G$ may fail to have a derangement, and this can happen even if $G$ has only two orbits, both of which have size $(1/2+o(1))n$. However, we conjecture that if $G$ has two orbits of size exactly $n/2$ then $G$ does have a derangement, and we prove this conjecture when $G$ acts primitively on at least one of the orbits. Equivalently, we conjecture that a finite group is never the union of conjugates of two proper subgroups of the same order, and we prove this conjecture when at least one of the subgroups is maximal. (Feldman also implicitly raised this conjecture on StackExchange.) We also prove the conjecture for soluble groups, almost simple groups and groups of order at most 50000, and we reduce the conjecture to perfect groups. Along the way, we prove a linear variant on Isbell's conjecture regarding derangements of prime-power order, and we highlight connections with intersecting families of permutations and roots of polynomials modulo primes.

math.GR↗
arXiv2024

Representations of extensions of simple groups

Feit and Tits (1978) proved that a nontrivial projective representation of minimal dimension of a finite extension of a finite nonabelian simple group $G$ factors through a projective representation of $G$, except for some groups of Lie type in characteristic 2; the exact exceptions for $G$ were determined by Kleidman and Liebeck (1989). We generalise this result in two ways. First we consider all low-dimensional projective representations, not just those of minimal dimension. Second we consider all characteristically simple groups, not just simple groups.

math.GR↗
arXiv2023

Minimal cover groups

Let $\mathcal{F}$ be a set of finite groups. A finite group $G$ is called an \emph{$\mathcal{F}$-cover} if every group in $\mathcal{F}$ is isomorphic to a subgroup of $G$. An $\mathcal{F}$-cover is called \emph{minimal} if no proper subgroup of $G$ is an $\mathcal{F}$-cover, and \emph{minimum} if its order is smallest among all $\mathcal{F}$-covers. We prove several results about minimal and minimum $\mathcal{F}$-covers: for example, every minimal cover of a set of $p$-groups (for $p$ prime) is a $p$-group (and there may be finitely or infinitely many, for a given set); every minimal cover of a set of perfect groups is perfect; and a minimum cover of a set of two nonabelian simple groups is either their direct product or simple. Our major theorem determines whether $\{\mathbb{Z}_q,\mathbb{Z}_r\}$ has finitely many minimal covers, where $q$ and $r$ are distinct primes. Motivated by this, we say that $n$ is a \emph{Cauchy number} if there are only finitely many groups which are minimal (under inclusion) with respect to having order divisible by $n$, and we determine all such numbers. This extends Cauchy's theorem. We also define a dual concept where subgroups are replaced by quotients, and we pose a number of problems.

math.GR↗
arXiv2023

Totally deranged elements of almost simple groups and invariable generating sets

By a classical theorem of Jordan, every faithful transitive action of a nontrivial finite group has a derangement (an element with no fixed points). The existence of derangements with additional properties has attracted much attention, especially for faithful primitive actions of almost simple groups. In this paper, we show that an almost simple group can have an element that is a derangement in every faithful primitive action, and we call these elements totally deranged. In fact, we classify the totally deranged elements of all almost simple groups, showing that an almost simple group $G$ contains a totally deranged element only if the socle of $G$ is $\mathrm{Sp}_4(2^f)$ or $\mathrm{P}\Omega^+_n(q)$ with $n=2^l \geqslant 8$. Using this, we classify the invariable generating sets of a finite simple group $G$ of the form $\{ x, x^a \}$ where $x \in G$ and $a \in \mathrm{Aut}(G)$, answering a question of Garzoni. As a final application, we classify the elements of almost simple groups that are contained in a unique maximal subgroup $H$ in the case where $H$ is not core-free, which complements the recent work of Guralnick and Tracey addressing the case where $H$ is core-free.

math.GR↗
arXiv2023

The maximal size of a minimal generating set

A generating set for a finite group $G$ is said to be minimal if no proper subset generates $G$, and $m(G)$ denotes the maximal size of a minimal generating set for $G$. We prove a conjecture of Lucchini, Moscatiello and Spiga by showing that there exist $a,b > 0$ such that any finite group $G$ satisfies $m(G) \leq a \cdot \delta(G)^b$, for $\delta(G) = \sum_{\text{$p$ prime}} m(G_p)$ where $G_p$ is a Sylow $p$-subgroup of $G$. To do this, we first bound $m(G)$ for all almost simple groups of Lie type (until now, no nontrivial bounds were known except for groups of rank $1$ or $2$). In particular, we prove that there exist $a,b > 0$ such that any finite simple group $G$ of Lie type of rank $r$ over the field $\mathbb{F}_{p^f}$ satisfies $r + \omega(f) \leq m(G) \leq a(r + \omega(f))^b$, where $\omega(f)$ denotes the number of distinct prime divisors of $f$. In the process, we confirm a conjecture of Gill and Liebeck that there exist $a,b > 0$ such that a minimal base for a faithful primitive action of an almost simple group of Lie type of rank $r$ over $\mathbb{F}_{p^f}$ has size at most $ar^b + \omega(f)$.

math.GR↗
arXiv2022

The spread of finite and infinite groups

It is well known that every finite simple group has a generating pair. Moreover, Guralnick and Kantor proved that every finite simple group has the stronger property, known as $\frac{3}{2}$-generation, that every nontrivial element is contained in a generating pair. Much more recently, this result has been generalised in three different directions, which form the basis of this survey article. First, we look at some stronger forms of $\frac{3}{2}$-generation that the finite simple groups satisfy, which are described in terms of spread and uniform domination. Next, we discuss the recent classification of the finite $\frac{3}{2}$-generated groups. Finally, we turn our attention to infinite groups, focusing on the recent discovery that the finitely presented simple groups of Thompson are also $\frac{3}{2}$-generated, as are many of their generalisations. Throughout the article we pose open questions in this area, and we highlight connections with other areas of group theory.

math.GR↗
arXiv2022

Thompson's group $T$ is $\frac{3}{2}$-generated

Every finite simple group can be generated by two elements and, in fact, every nontrivial element is contained in a generating pair. Groups with this property are said to be $\frac{3}{2}$-generated, and the finite $\frac{3}{2}$-generated groups were recently classified. Turning to infinite groups, in this paper, we prove that the finitely presented simple group $T$ of Thompson is $\frac{3}{2}$-generated. Moreover, we exhibit an element $\zeta \in T$ such that for any nontrivial $\alpha \in T$, there exists $\gamma \in T$ such that $\langle \alpha, \zeta^\gamma \rangle = T$.

math.GR↗
arXiv2021

Flexibility in generating sets of finite groups

Let G be a finite group. It has recently been proved that every nontrivial element of G is contained in a generating set of minimal size if and only if all proper quotients of G require fewer generators than G. It is natural to ask which finite groups, in addition, have the property that any two elements of G that do not generate a cyclic group can be extended to a generating set of minimal size. This note answers the question. The only such finite groups are very specific affine groups: elementary abelian groups extended by a cyclic group acting as scalars.

math.GR↗
arXiv2021

NeBula: Quest for Robotic Autonomy in Challenging Environments; TEAM CoSTAR at the DARPA Subterranean Challenge

This paper presents and discusses algorithms, hardware, and software architecture developed by the TEAM CoSTAR (Collaborative SubTerranean Autonomous Robots), competing in the DARPA Subterranean Challenge. Specifically, it presents the techniques utilized within the Tunnel (2019) and Urban (2020) competitions, where CoSTAR achieved 2nd and 1st place, respectively. We also discuss CoSTAR's demonstrations in Martian-analog surface and subsurface (lava tubes) exploration. The paper introduces our autonomy solution, referred to as NeBula (Networked Belief-aware Perceptual Autonomy). NeBula is an uncertainty-aware framework that aims at enabling resilient and modular autonomy solutions by performing reasoning and decision making in the belief space (space of probability distributions over the robot and world states). We discuss various components of the NeBula framework, including: (i) geometric and semantic environment mapping; (ii) a multi-modal positioning system; (iii) traversability analysis and local planning; (iv) global motion planning and exploration behavior; (i) risk-aware mission planning; (vi) networking and decentralized reasoning; and (vii) learning-enabled adaptation. We discuss the performance of NeBula on several robot types (e.g. wheeled, legged, flying), in various environments. We discuss the specific results and lessons learned from fielding this solution in the challenging courses of the DARPA Subterranean Challenge competition.

cs.RO↗
arXiv2020

Shintani descent, simple groups and spread

The spread of a group $G$, written $s(G)$, is the largest $k$ such that for any nontrivial elements $x_1, \dots, x_k \in G$ there exists $y \in G$ such that $G = \langle x_i, y \rangle$ for all $i$. Burness, Guralnick and Harper recently classified the finite groups $G$ such that $s(G) > 0$, which involved a reduction to almost simple groups. In this paper, we prove an asymptotic result that determines exactly when $s(G_n) \to \infty$ for a sequence of almost simple groups $(G_n)$. We apply probabilistic and geometric ideas, but the key tool is Shintani descent, a technique from the theory of algebraic groups that provides a bijection, the Shintani map, between conjugacy classes of almost simple groups. We provide a self-contained presentation of a general version of Shintani descent, and we prove that the Shintani map preserves information about maximal overgroups. This is suited to further applications. Indeed, we also use it to study $\mu(G)$, the minimal number of maximal overgroups of an element of $G$. We show that if $G$ is almost simple, then $\mu(G) \leqslant 3$ when $G$ has an alternating or sporadic socle, but in general, unlike when $G$ is simple, $\mu(G)$ can be arbitrarily large.

math.GR↗
arXiv2020

The spread of a finite group

A group $G$ is said to be $\frac{3}{2}$-generated if every nontrivial element belongs to a generating pair. It is easy to see that if $G$ has this property then every proper quotient of $G$ is cyclic. In this paper we prove that the converse is true for finite groups, which settles a conjecture of Breuer, Guralnick and Kantor from 2008. In fact, we prove a much stronger result, which solves a problem posed by Brenner and Wiegold in 1975. Namely, if $G$ is a finite group and every proper quotient of $G$ is cyclic, then for any pair of nontrivial elements $x_1,x_2 \in G$, there exists $y \in G$ such that $G = \langle x_1, y \rangle = \langle x_2, y \rangle$. In other words, $s(G) \geqslant 2$, where $s(G)$ is the spread of $G$. Moreover, if $u(G)$ denotes the more restrictive uniform spread of $G$, then we can completely characterise the finite groups $G$ with $u(G) = 0$ and $u(G)=1$. To prove these results, we first establish a reduction to almost simple groups. For simple groups, the result was proved by Guralnick and Kantor in 2000 using probabilistic methods and since then the almost simple groups have been the subject of several papers. By combining our reduction theorem and this earlier work, it remains to handle the groups whose socles are exceptional groups of Lie type and this is the case we treat in this paper.

math.GR↗
arXiv2020

The Spread of Almost Simple Classical Groups

Every finite simple group can be generated by two elements, and in 2000, Guralnick and Kantor resolved a 1962 question of Steinberg by proving that in a finite simple group every nontrivial element belongs to a generating pair. Groups with this property are said to be $\frac{3}{2}$-generated. Which finite groups are $\frac{3}{2}$-generated? Every proper quotient of a $\frac{3}{2}$-generated group is cyclic, and in 2008, Breuer, Guralnick and Kantor made the striking conjecture that this condition alone provides a complete characterisation of the finite groups with this property. This conjecture has recently been reduced to the almost simple groups and results of Piccard (1939) and Woldar (1994) show that the conjecture is true for almost simple groups whose socles are alternating or sporadic groups. Therefore, the central focus is now on the almost simple groups of Lie type. In this monograph we prove a strong version of this conjecture for almost simple classical groups, building on earlier work of Burness and Guest (2013) and the author (2017). More precisely, we show that every relevant almost simple classical group has uniform spread at least two, unless it is isomorphic to the symmetric group of degree six. We also prove that the uniform spread of these groups tends to infinity if the size of the underlying field tends to infinity. To prove these results, we are guided by a probabilistic approach introduced by Guralnick and Kantor. This requires a detailed analysis of automorphisms, fixed point ratios and subgroup structure of almost simple classical groups, so the first half of this monograph is dedicated to these general topics. In particular, we give a general exposition of the useful technique of Shintani descent, which plays an important role throughout.

math.GR↗
arXiv2020

Connectivity of generating graphs of nilpotent groups

Let $G$ be $2$-generated group. The generating graph of $\Gamma(G)$ is the graph whose vertices are the elements of $G$ and where two vertices $g$ and $h$ are adjacent if $G=\langle g,h\rangle$. This graph encodes the combinatorial structure of the distribution of generating pairs across $G$. In this paper we study several natural graph theoretic properties related to the connectedness of $\Gamma(G)$ in the case where $G$ is a finite nilpotent group. For example, we prove that if $G$ is nilpotent, then the graph obtained from $\Gamma(G)$ by removing its isolated vertices is maximally connected and, if $|G| \geq 3$, also Hamiltonian. We pose several questions.

math.GR↗
arXiv2019

Infinite $\frac{3}{2}$-generated groups

Every finite simple group can be generated by two elements, and Guralnick and Kantor proved that, moreover, every nontrivial element is contained in a generating pair. Groups with this property are said to be $\frac{3}{2}$-generated. Thompson's group $V$ was the first finitely presented infinite simple group to be discovered. The Higman--Thompson groups $V_n$ and the Brin--Thompson groups $mV$ are two families of finitely presented groups that generalise $V$. In this paper, we prove that all of the groups $V_n$, $V_n'$ and $mV$ are $\frac{3}{2}$-generated. As far as the authors are aware, the only previously known examples of infinite noncyclic $\frac{3}{2}$-generated groups are the pathological Tarski monsters. We conclude with several open questions motivated by our results.

math.GR↗