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Matrix Groups GAP examples Matrix groups in GAP Schreier-Sims - - PowerPoint PPT Presentation

Matrix Groups Max Neunhffer Introduction Matrix Groups GAP examples Matrix groups in GAP Schreier-Sims Max Neunhffer Problems Group algebras SLPs Constructive recognition The problem Troubles University of St Andrews GAC 2010,


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Matrix Groups Max Neunhöffer Introduction GAP examples Matrix groups in GAP Schreier-Sims Problems Group algebras SLPs Constructive recognition

The problem Troubles

Matrix Groups

Max Neunhöffer

University of St Andrews

GAC 2010, Allahabad

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Matrix Groups Max Neunhöffer Introduction GAP examples Matrix groups in GAP Schreier-Sims Problems Group algebras SLPs Constructive recognition

The problem Troubles

Introduction

Let F be a field. Set GLd(F) :=

  • M ∈ Fd×d | M is invertible
  • .

This is a group under matrix multiplication.

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Matrix Groups Max Neunhöffer Introduction GAP examples Matrix groups in GAP Schreier-Sims Problems Group algebras SLPs Constructive recognition

The problem Troubles

Introduction

Let F be a field. Set GLd(F) :=

  • M ∈ Fd×d | M is invertible
  • .

This is a group under matrix multiplication. We are here particularly interested in the case that F = Fq is the finite field with q = pf elements.

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Matrix Groups Max Neunhöffer Introduction GAP examples Matrix groups in GAP Schreier-Sims Problems Group algebras SLPs Constructive recognition

The problem Troubles

Introduction

Let F be a field. Set GLd(F) :=

  • M ∈ Fd×d | M is invertible
  • .

This is a group under matrix multiplication. We are here particularly interested in the case that F = Fq is the finite field with q = pf elements.

Definition (Matrix group, projective group)

A matrix group is a subgroup of some GLd(F).

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Matrix Groups Max Neunhöffer Introduction GAP examples Matrix groups in GAP Schreier-Sims Problems Group algebras SLPs Constructive recognition

The problem Troubles

Introduction

Let F be a field. Set GLd(F) :=

  • M ∈ Fd×d | M is invertible
  • .

This is a group under matrix multiplication. We are here particularly interested in the case that F = Fq is the finite field with q = pf elements.

Definition (Matrix group, projective group)

A matrix group is a subgroup of some GLd(F). We call two matrices M, N ∈ GLd(F) equivalent, if one is a scalar multiple of the other and denote the equivalence class of M by [M]. Then PGLd(F) := {[M] | M ∈ GLd(F)} is a group with the well-defined multiplication [M] · [N] := [MN]. This is called the projective group.

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Matrix Groups Max Neunhöffer Introduction GAP examples Matrix groups in GAP Schreier-Sims Problems Group algebras SLPs Constructive recognition

The problem Troubles

GAP examples

see other window

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Matrix Groups Max Neunhöffer Introduction GAP examples Matrix groups in GAP Schreier-Sims Problems Group algebras SLPs Constructive recognition

The problem Troubles

Matrix groups in GAP(currently!)

GAP handles matrix groups via permutation groups:

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Matrix Groups Max Neunhöffer Introduction GAP examples Matrix groups in GAP Schreier-Sims Problems Group algebras SLPs Constructive recognition

The problem Troubles

Matrix groups in GAP(currently!)

GAP handles matrix groups via permutation groups: Let G ≤ GLd(Fq). Then G acts linearly on V := F1×d

q

,

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Matrix Groups Max Neunhöffer Introduction GAP examples Matrix groups in GAP Schreier-Sims Problems Group algebras SLPs Constructive recognition

The problem Troubles

Matrix groups in GAP(currently!)

GAP handles matrix groups via permutation groups: Let G ≤ GLd(Fq). Then G acts linearly on V := F1×d

q

, V modulo scalars (projective action),

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Matrix Groups Max Neunhöffer Introduction GAP examples Matrix groups in GAP Schreier-Sims Problems Group algebras SLPs Constructive recognition

The problem Troubles

Matrix groups in GAP(currently!)

GAP handles matrix groups via permutation groups: Let G ≤ GLd(Fq). Then G acts linearly on V := F1×d

q

, V modulo scalars (projective action), {W ≤ V | dimFq W = k} for some 1 ≤ k < d.

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Matrix Groups Max Neunhöffer Introduction GAP examples Matrix groups in GAP Schreier-Sims Problems Group algebras SLPs Constructive recognition

The problem Troubles

Matrix groups in GAP(currently!)

GAP handles matrix groups via permutation groups: Let G ≤ GLd(Fq). Then G acts linearly on V := F1×d

q

, V modulo scalars (projective action), {W ≤ V | dimFq W = k} for some 1 ≤ k < d. If vG ⊆ V is an orbit, then we have a group homomorphism ψ : G → ΣvG, g → (vG → vG, vh → vhg).

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Matrix Groups Max Neunhöffer Introduction GAP examples Matrix groups in GAP Schreier-Sims Problems Group algebras SLPs Constructive recognition

The problem Troubles

Matrix groups in GAP(currently!)

GAP handles matrix groups via permutation groups: Let G ≤ GLd(Fq). Then G acts linearly on V := F1×d

q

, V modulo scalars (projective action), {W ≤ V | dimFq W = k} for some 1 ≤ k < d. If vG ⊆ V is an orbit, then we have a group homomorphism ψ : G → ΣvG, g → (vG → vG, vh → vhg).

Lemma

If vG contains a basis of V, then ψ is injective.

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Matrix Groups Max Neunhöffer Introduction GAP examples Matrix groups in GAP Schreier-Sims Problems Group algebras SLPs Constructive recognition

The problem Troubles

Matrix groups in GAP(currently!)

GAP handles matrix groups via permutation groups: Let G ≤ GLd(Fq). Then G acts linearly on V := F1×d

q

, V modulo scalars (projective action), {W ≤ V | dimFq W = k} for some 1 ≤ k < d. If vG ⊆ V is an orbit, then we have a group homomorphism ψ : G → ΣvG, g → (vG → vG, vh → vhg).

Lemma

If vG contains a basis of V, then ψ is injective. In this case, we can explicitly compute the image of g ∈ G by acting,

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Matrix Groups Max Neunhöffer Introduction GAP examples Matrix groups in GAP Schreier-Sims Problems Group algebras SLPs Constructive recognition

The problem Troubles

Matrix groups in GAP(currently!)

GAP handles matrix groups via permutation groups: Let G ≤ GLd(Fq). Then G acts linearly on V := F1×d

q

, V modulo scalars (projective action), {W ≤ V | dimFq W = k} for some 1 ≤ k < d. If vG ⊆ V is an orbit, then we have a group homomorphism ψ : G → ΣvG, g → (vG → vG, vh → vhg).

Lemma

If vG contains a basis of V, then ψ is injective. In this case, we can explicitly compute the image of g ∈ G by acting, explicitly compute the preimage of a permutation by reading off the images of the basis vectors in vG.

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Matrix Groups Max Neunhöffer Introduction GAP examples Matrix groups in GAP Schreier-Sims Problems Group algebras SLPs Constructive recognition

The problem Troubles

Matrix Schreier-Sims

In principle one can use the Schreier-Sims procedure to compute a stabiliser chain for matrix groups as well.

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Matrix Groups Max Neunhöffer Introduction GAP examples Matrix groups in GAP Schreier-Sims Problems Group algebras SLPs Constructive recognition

The problem Troubles

Matrix Schreier-Sims

In principle one can use the Schreier-Sims procedure to compute a stabiliser chain for matrix groups as well. Matrix groups act on lots of stuff, just pick an orbit!

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Matrix Groups Max Neunhöffer Introduction GAP examples Matrix groups in GAP Schreier-Sims Problems Group algebras SLPs Constructive recognition

The problem Troubles

Matrix Schreier-Sims

In principle one can use the Schreier-Sims procedure to compute a stabiliser chain for matrix groups as well. Matrix groups act on lots of stuff, just pick an orbit! One problem is to find a short orbit!

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Matrix Groups Max Neunhöffer Introduction GAP examples Matrix groups in GAP Schreier-Sims Problems Group algebras SLPs Constructive recognition

The problem Troubles

Matrix Schreier-Sims

In principle one can use the Schreier-Sims procedure to compute a stabiliser chain for matrix groups as well. Matrix groups act on lots of stuff, just pick an orbit! One problem is to find a short orbit! Various heuristics are used, for example try vectors in intersections of eigenspaces of random elements, but in general, this is difficult.

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Matrix Groups Max Neunhöffer Introduction GAP examples Matrix groups in GAP Schreier-Sims Problems Group algebras SLPs Constructive recognition

The problem Troubles

Matrix Schreier-Sims

In principle one can use the Schreier-Sims procedure to compute a stabiliser chain for matrix groups as well. Matrix groups act on lots of stuff, just pick an orbit! One problem is to find a short orbit! Various heuristics are used, for example try vectors in intersections of eigenspaces of random elements, but in general, this is difficult. One usually uses projective action and action on vectors alternatingly.

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Matrix Groups Max Neunhöffer Introduction GAP examples Matrix groups in GAP Schreier-Sims Problems Group algebras SLPs Constructive recognition

The problem Troubles

Matrix Schreier-Sims

In principle one can use the Schreier-Sims procedure to compute a stabiliser chain for matrix groups as well. Matrix groups act on lots of stuff, just pick an orbit! One problem is to find a short orbit! Various heuristics are used, for example try vectors in intersections of eigenspaces of random elements, but in general, this is difficult. One usually uses projective action and action on vectors alternatingly. Magma has lots of algorithms for matrix groups using stabiliser chains.

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Matrix Groups Max Neunhöffer Introduction GAP examples Matrix groups in GAP Schreier-Sims Problems Group algebras SLPs Constructive recognition

The problem Troubles

Matrix Schreier-Sims

In principle one can use the Schreier-Sims procedure to compute a stabiliser chain for matrix groups as well. Matrix groups act on lots of stuff, just pick an orbit! One problem is to find a short orbit! Various heuristics are used, for example try vectors in intersections of eigenspaces of random elements, but in general, this is difficult. One usually uses projective action and action on vectors alternatingly. Magma has lots of algorithms for matrix groups using stabiliser chains. For GAP there is the genss package to compute stabiliser chains but not yet many algorithms to use them.

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Matrix Groups Max Neunhöffer Introduction GAP examples Matrix groups in GAP Schreier-Sims Problems Group algebras SLPs Constructive recognition

The problem Troubles

Problem: very big orbits

A fundamental problem with both approaches is the following:

Problem (Giants)

For G = GLd(Fq), the shortest non-trivial orbit in V is V \ {0} with qd − 1 elements.

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Matrix Groups Max Neunhöffer Introduction GAP examples Matrix groups in GAP Schreier-Sims Problems Group algebras SLPs Constructive recognition

The problem Troubles

Problem: very big orbits

A fundamental problem with both approaches is the following:

Problem (Giants)

For G = GLd(Fq), the shortest non-trivial orbit in V is V \ {0} with qd − 1 elements. In projective action the length is (qd − 1)/(q − 1) which is

  • nly slightly better.
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Matrix Groups Max Neunhöffer Introduction GAP examples Matrix groups in GAP Schreier-Sims Problems Group algebras SLPs Constructive recognition

The problem Troubles

Problem: very big orbits

A fundamental problem with both approaches is the following:

Problem (Giants)

For G = GLd(Fq), the shortest non-trivial orbit in V is V \ {0} with qd − 1 elements. In projective action the length is (qd − 1)/(q − 1) which is

  • nly slightly better.

So for the whole GLd(Fq), there are no short orbits!

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Matrix Groups Max Neunhöffer Introduction GAP examples Matrix groups in GAP Schreier-Sims Problems Group algebras SLPs Constructive recognition

The problem Troubles

Problem: very big orbits

A fundamental problem with both approaches is the following:

Problem (Giants)

For G = GLd(Fq), the shortest non-trivial orbit in V is V \ {0} with qd − 1 elements. In projective action the length is (qd − 1)/(q − 1) which is

  • nly slightly better.

So for the whole GLd(Fq), there are no short orbits! Like in the Σn case, each GLd(Fq) contains certain large subgroups with this problem. They are called the classical groups in their natural representation. Examples: the special linear group SLd(Fq),

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Matrix Groups Max Neunhöffer Introduction GAP examples Matrix groups in GAP Schreier-Sims Problems Group algebras SLPs Constructive recognition

The problem Troubles

Problem: very big orbits

A fundamental problem with both approaches is the following:

Problem (Giants)

For G = GLd(Fq), the shortest non-trivial orbit in V is V \ {0} with qd − 1 elements. In projective action the length is (qd − 1)/(q − 1) which is

  • nly slightly better.

So for the whole GLd(Fq), there are no short orbits! Like in the Σn case, each GLd(Fq) contains certain large subgroups with this problem. They are called the classical groups in their natural representation. Examples: the special linear group SLd(Fq), the symplectic group Sp2d(Fq),

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Matrix Groups Max Neunhöffer Introduction GAP examples Matrix groups in GAP Schreier-Sims Problems Group algebras SLPs Constructive recognition

The problem Troubles

Problem: very big orbits

A fundamental problem with both approaches is the following:

Problem (Giants)

For G = GLd(Fq), the shortest non-trivial orbit in V is V \ {0} with qd − 1 elements. In projective action the length is (qd − 1)/(q − 1) which is

  • nly slightly better.

So for the whole GLd(Fq), there are no short orbits! Like in the Σn case, each GLd(Fq) contains certain large subgroups with this problem. They are called the classical groups in their natural representation. Examples: the special linear group SLd(Fq), the symplectic group Sp2d(Fq), the unitary group Ud(Fq2).

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Matrix Groups Max Neunhöffer Introduction GAP examples Matrix groups in GAP Schreier-Sims Problems Group algebras SLPs Constructive recognition

The problem Troubles

Matrix groups and group algebras

Definition (Group algebra)

Let G be a finite group and F a field. Then FG, the group algebra, is an F-vector space with basis G, and multiplication (

g∈G agg) · ( h∈G bhh) := g,h∈G agbh · gh.

FG is an F-algebra.

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Matrix Groups Max Neunhöffer Introduction GAP examples Matrix groups in GAP Schreier-Sims Problems Group algebras SLPs Constructive recognition

The problem Troubles

Matrix groups and group algebras

Definition (Group algebra)

Let G be a finite group and F a field. Then FG, the group algebra, is an F-vector space with basis G, and multiplication (

g∈G agg) · ( h∈G bhh) := g,h∈G agbh · gh.

FG is an F-algebra.

Proposition

A group homomorphism G → GLd(F) “amounts to the same” as an FG-module of dimension d.

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Matrix Groups Max Neunhöffer Introduction GAP examples Matrix groups in GAP Schreier-Sims Problems Group algebras SLPs Constructive recognition

The problem Troubles

Matrix groups and group algebras

Definition (Group algebra)

Let G be a finite group and F a field. Then FG, the group algebra, is an F-vector space with basis G, and multiplication (

g∈G agg) · ( h∈G bhh) := g,h∈G agbh · gh.

FG is an F-algebra.

Proposition

A group homomorphism G → GLd(F) “amounts to the same” as an FG-module of dimension d. Idea of proof: “→”: Extend the action of G via GLd(F) on F1×d linearly to FG. “←”: Restrict action to basis.

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Matrix Groups Max Neunhöffer Introduction GAP examples Matrix groups in GAP Schreier-Sims Problems Group algebras SLPs Constructive recognition

The problem Troubles

Matrix groups and group algebras

Definition (Group algebra)

Let G be a finite group and F a field. Then FG, the group algebra, is an F-vector space with basis G, and multiplication (

g∈G agg) · ( h∈G bhh) := g,h∈G agbh · gh.

FG is an F-algebra.

Proposition

A group homomorphism G → GLd(F) “amounts to the same” as an FG-module of dimension d. Idea of proof: “→”: Extend the action of G via GLd(F) on F1×d linearly to FG. “←”: Restrict action to basis.

  • =

⇒ Can use the MeatAxe for matrix groups G ≤ GLd(Fq).

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Matrix Groups Max Neunhöffer Introduction GAP examples Matrix groups in GAP Schreier-Sims Problems Group algebras SLPs Constructive recognition

The problem Troubles

Matrix groups and group algebras

Definition (Group algebra)

Let G be a finite group and F a field. Then FG, the group algebra, is an F-vector space with basis G, and multiplication (

g∈G agg) · ( h∈G bhh) := g,h∈G agbh · gh.

FG is an F-algebra.

Proposition

A group homomorphism G → GLd(F) “amounts to the same” as an FG-module of dimension d. Idea of proof: “→”: Extend the action of G via GLd(F) on F1×d linearly to FG. “←”: Restrict action to basis.

  • =

⇒ Can use the MeatAxe for matrix groups G ≤ GLd(Fq). Distinguish between GAlg ≤ Fd×d

q

and GAlg ≤ FqG!

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Matrix Groups Max Neunhöffer Introduction GAP examples Matrix groups in GAP Schreier-Sims Problems Group algebras SLPs Constructive recognition

The problem Troubles

Straight line programs

Definition (Straight line program)

Informally: a program with no branches.

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Matrix Groups Max Neunhöffer Introduction GAP examples Matrix groups in GAP Schreier-Sims Problems Group algebras SLPs Constructive recognition

The problem Troubles

Straight line programs

Definition (Straight line program)

Informally: a program with no branches. More formally: The input is a finite list of group elements.

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Matrix Groups Max Neunhöffer Introduction GAP examples Matrix groups in GAP Schreier-Sims Problems Group algebras SLPs Constructive recognition

The problem Troubles

Straight line programs

Definition (Straight line program)

Informally: a program with no branches. More formally: The input is a finite list of group elements. The program consists of a finite list of steps.

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Matrix Groups Max Neunhöffer Introduction GAP examples Matrix groups in GAP Schreier-Sims Problems Group algebras SLPs Constructive recognition

The problem Troubles

Straight line programs

Definition (Straight line program)

Informally: a program with no branches. More formally: The input is a finite list of group elements. The program consists of a finite list of steps. Each step only computes a product of powers of previously acquired group elements.

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Matrix Groups Max Neunhöffer Introduction GAP examples Matrix groups in GAP Schreier-Sims Problems Group algebras SLPs Constructive recognition

The problem Troubles

Straight line programs

Definition (Straight line program)

Informally: a program with no branches. More formally: The input is a finite list of group elements. The program consists of a finite list of steps. Each step only computes a product of powers of previously acquired group elements. The output is a finite list of the results.

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Matrix Groups Max Neunhöffer Introduction GAP examples Matrix groups in GAP Schreier-Sims Problems Group algebras SLPs Constructive recognition

The problem Troubles

Straight line programs

Definition (Straight line program)

Informally: a program with no branches. More formally: The input is a finite list of group elements. The program consists of a finite list of steps. Each step only computes a product of powers of previously acquired group elements. The output is a finite list of the results. An example: (computes a commutator)

# input: r:= [ g1, g2 ]; # program: r[3]:= r[1]↑-1; r[4]:= r[2]↑-1; r[5]:= r[1]*r[2]*r[3]*r[4]; # return value: r[5]

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Matrix Groups Max Neunhöffer Introduction GAP examples Matrix groups in GAP Schreier-Sims Problems Group algebras SLPs Constructive recognition

The problem Troubles

Constructive recognition

Problem

Let Fq be the field with q elements und M1, . . . , Mk ∈ GLn(Fq). Find for G := M1, . . . , Mk: The group order |G | and an algorithm that, given M ∈ GLn(Fq),

decides, whether or not M ∈ G, and, if so, expresses M as an SLP in the Mi.

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Matrix Groups Max Neunhöffer Introduction GAP examples Matrix groups in GAP Schreier-Sims Problems Group algebras SLPs Constructive recognition

The problem Troubles

Constructive recognition

Problem

Let Fq be the field with q elements und M1, . . . , Mk ∈ GLn(Fq). Find for G := M1, . . . , Mk: The group order |G | and an algorithm that, given M ∈ GLn(Fq),

decides, whether or not M ∈ G, and, if so, expresses M as an SLP in the Mi.

The runtime should be bounded from above by a polynomial in n, k and log q.

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Matrix Groups Max Neunhöffer Introduction GAP examples Matrix groups in GAP Schreier-Sims Problems Group algebras SLPs Constructive recognition

The problem Troubles

Constructive recognition

Problem

Let Fq be the field with q elements und M1, . . . , Mk ∈ GLn(Fq). Find for G := M1, . . . , Mk: The group order |G | and an algorithm that, given M ∈ GLn(Fq),

decides, whether or not M ∈ G, and, if so, expresses M as an SLP in the Mi.

The runtime should be bounded from above by a polynomial in n, k and log q. A Monte Carlo Algorithmus is enough.

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Matrix Groups Max Neunhöffer Introduction GAP examples Matrix groups in GAP Schreier-Sims Problems Group algebras SLPs Constructive recognition

The problem Troubles

Constructive recognition

Problem

Let Fq be the field with q elements und M1, . . . , Mk ∈ GLn(Fq). Find for G := M1, . . . , Mk: The group order |G | and an algorithm that, given M ∈ GLn(Fq),

decides, whether or not M ∈ G, and, if so, expresses M as an SLP in the Mi.

The runtime should be bounded from above by a polynomial in n, k and log q. A Monte Carlo Algorithmus is enough. (Verification!)

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Matrix Groups Max Neunhöffer Introduction GAP examples Matrix groups in GAP Schreier-Sims Problems Group algebras SLPs Constructive recognition

The problem Troubles

Constructive recognition

Problem

Let Fq be the field with q elements und M1, . . . , Mk ∈ GLn(Fq). Find for G := M1, . . . , Mk: The group order |G | and an algorithm that, given M ∈ GLn(Fq),

decides, whether or not M ∈ G, and, if so, expresses M as an SLP in the Mi.

The runtime should be bounded from above by a polynomial in n, k and log q. A Monte Carlo Algorithmus is enough. (Verification!) If this problem is solved, we call M1, . . . , Mk recognised constructively.

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Matrix Groups Max Neunhöffer Introduction GAP examples Matrix groups in GAP Schreier-Sims Problems Group algebras SLPs Constructive recognition

The problem Troubles

Troubles

The discrete logarithm problem

If M1 = [z] ∈ F1×1

q

with z a primitive root of Fq. Then: Given 0 = [x] ∈ F1×1

q

, find i ∈ N such that [x] = [z]i.

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Matrix Groups Max Neunhöffer Introduction GAP examples Matrix groups in GAP Schreier-Sims Problems Group algebras SLPs Constructive recognition

The problem Troubles

Troubles

The discrete logarithm problem

If M1 = [z] ∈ F1×1

q

with z a primitive root of Fq. Then: Given 0 = [x] ∈ F1×1

q

, find i ∈ N such that [x] = [z]i. There is no solution in polynomial time in log q known!

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Matrix Groups Max Neunhöffer Introduction GAP examples Matrix groups in GAP Schreier-Sims Problems Group algebras SLPs Constructive recognition

The problem Troubles

Troubles

The discrete logarithm problem

If M1 = [z] ∈ F1×1

q

with z a primitive root of Fq. Then: Given 0 = [x] ∈ F1×1

q

, find i ∈ N such that [x] = [z]i. There is no solution in polynomial time in log q known!

Integer factorisation

Some methods need a factorisation of qi − 1 for an i ≤ n.

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Matrix Groups Max Neunhöffer Introduction GAP examples Matrix groups in GAP Schreier-Sims Problems Group algebras SLPs Constructive recognition

The problem Troubles

Troubles

The discrete logarithm problem

If M1 = [z] ∈ F1×1

q

with z a primitive root of Fq. Then: Given 0 = [x] ∈ F1×1

q

, find i ∈ N such that [x] = [z]i. There is no solution in polynomial time in log q known!

Integer factorisation

Some methods need a factorisation of qi − 1 for an i ≤ n. There is no solution in polynomial time in log q known!

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Matrix Groups Max Neunhöffer Introduction GAP examples Matrix groups in GAP Schreier-Sims Problems Group algebras SLPs Constructive recognition

The problem Troubles

Troubles

The discrete logarithm problem

If M1 = [z] ∈ F1×1

q

with z a primitive root of Fq. Then: Given 0 = [x] ∈ F1×1

q

, find i ∈ N such that [x] = [z]i. There is no solution in polynomial time in log q known!

Integer factorisation

Some methods need a factorisation of qi − 1 for an i ≤ n. There is no solution in polynomial time in log q known! In practice q is small ⇒ no problem. We ignore both!

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Matrix Groups Max Neunhöffer Introduction GAP examples Matrix groups in GAP Schreier-Sims Problems Group algebras SLPs Constructive recognition

The problem Troubles

The End

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Matrix Groups Max Neunhöffer Introduction GAP examples Matrix groups in GAP Schreier-Sims Problems Group algebras SLPs Constructive recognition

The problem Troubles

Bibliography

Derek F . Holt, Bettina Eick, and Eamonn A. O’Brien. Handbook of computational group theory. Discrete Mathematics and its Applications (Boca Raton). Chapman & Hall/CRC, Boca Raton, FL, 2005.