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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., Comment: 8 pages

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.

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., Comment: 36 pages; to appear in Journal of the London Mathematical Society

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 $ar^b + \omega(f)$., Comment: 10 pages; to appear in Forum of Mathematics, Sigma

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., Comment: 38 pages; survey article based on my lecture at Groups St Andrews 2022

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 $\langle \alpha, \zeta^\gamma \rangle = T$., Comment: 11 pages; to appear in Israel Journal of Mathematics

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., Comment: 5 pages; to appear in Archiv der Mathematik

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., Comment: For team website, see https://costar.jpl.nasa.gov/. Accepted for publication in the Journal of Field Robotics, 2021

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., Comment: 30 pages; to appear in Journal of Algebra

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., Comment: 48 pages; to appear in Annals of Mathematics

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., Comment: 135 pages

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., Comment: 11 pages; to appear in Algebraic Combinatorics

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., Comment: 18 pages; to appear in Bull. Lond. Math. Soc

We present an approach to enhance wheeled planetary rover dead-reckoning localization performance by leveraging the use of zero-type constraint equations in the navigation filter. Without external aiding, inertial navigation solutions inherently exhibit cubic error growth. Furthermore, for planetary rovers that are traversing diverse types of terrain, wheel odometry is often unreliable for use in localization, due to wheel slippage. For current Mars rovers, computer vision-based approaches are generally used whenever there is a high possibility of positioning error; however, these strategies require additional computational power, energy resources, and significantly slow down the rover traverse speed. To this end, we propose a navigation approach that compensates for the high likelihood of odometry errors by providing a reliable navigation solution that leverages non-holonomic vehicle constraints as well as state-aware pseudo-measurements (e.g., zero velocity and zero angular rate) updates during periodic stops. By using this, computationally expensive visual-based corrections could be performed less often. Experimental tests that compare against GPS-based localization are used to demonstrate the accuracy of the proposed approach. The source code, post-processing scripts, and example datasets associated with the paper are published in a public repository., Comment: 8 pages, 9 figures, Accepted to IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2019

Let $G$ be a finite $2$-generated non-cyclic group. The spread of $G$ is the largest integer $k$ such that for any nontrivial elements $x_1, \ldots, x_k$, there exists $y \in G$ such that $G = \langle x_i, y\rangle$ for all $i$. The more restrictive notion of uniform spread, denoted $u(G)$, requires $y$ to be chosen from a fixed conjugacy class of $G$, and a theorem of Breuer, Guralnick and Kantor states that $u(G) \geqslant 2$ for every non-abelian finite simple group $G$. For any group with $u(G) \geqslant 1$, we define the uniform domination number $\gamma_u(G)$ of $G$ to be the minimal size of a subset $S$ of conjugate elements such that for each nontrivial $x \in G$ there exists $y \in S$ with $G = \langle x, y \rangle$ (in this situation, we say that $S$ is a uniform dominating set for $G$). We introduced the latter notion in a recent paper, where we used probabilistic methods to determine close to best possible bounds on $\gamma_u(G)$ for all simple groups $G$. In this paper we establish several new results on the spread, uniform spread and uniform domination number of finite groups and finite simple groups. For example, we make substantial progress towards a classification of the simple groups $G$ with $\gamma_u(G)=2$, and we study the associated probability that two randomly chosen conjugate elements form a uniform dominating set for $G$. We also establish new results concerning the $2$-generation of soluble and symmetric groups, and we present several open problems., Comment: 60 pages; to appear in Israel Journal of Mathematics

Precision robotic pollination systems can not only fill the gap of declining natural pollinators, but can also surpass them in efficiency and uniformity, helping to feed the fast-growing human population on Earth. This paper presents the design and ongoing development of an autonomous robot named "BrambleBee", which aims at pollinating bramble plants in a greenhouse environment. Partially inspired by the ecology and behavior of bees, BrambleBee employs state-of-the-art localization and mapping, visual perception, path planning, motion control, and manipulation techniques to create an efficient and robust autonomous pollination system., Comment: Accepted at the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2018), Madrid, Spain

The distinguishing number of $G \leqslant \sym(\Omega)$ is the smallest size of a partition of $\Omega$ such that only the identity of $G$ fixes all the parts of the partition. Extending earlier results of Cameron, Neumann, Saxl and Seress on the distinguishing number of finite primitive groups, we show that all imprimitive quasiprimitive groups have distinguishing number two, and all non-quasiprimitive semiprimitive groups have distinguishing number two, except for $\mathrm{GL}(2, 3)$ acting on the eight non-zero vectors of $\mathbb F_2^3$, which has distinguishing number three., Comment: 10 pages

Let $m$ be a positive integer and let $\rho(m,n)$ be the proportion of permutations of the symmetric group ${\rm Sym}(n)$ whose order is coprime to $m$. In 2002, Pouyanne proved that $\rho(n,m)n^{1-\frac{\phi(m)}{m}}\sim \kappa_m$ where $\kappa_m$ is a complicated (unbounded) function of $m$. We show that there exists a positive constant $C(m)$ such that, for all $n \geqslant m$, \[C(m) \left(\frac{n}{m}\right)^{\frac{\phi(m)}{m}-1} \leqslant \rho(n,m) \leqslant \left(\frac{n}{m}\right)^{\frac{\phi(m)}{m}-1}\] where $\phi$ is Euler's totient function., Comment: 10 pages, 3 figures

Let $G$ be a finite simple group. By a theorem of Guralnick and Kantor, $G$ contains a conjugacy class $C$ such that for each non-identity element $x \in G$, there exists $y \in C$ with $G = \langle x,y\rangle$. Building on this deep result, we introduce a new invariant $\gamma_u(G)$, which we call the uniform domination number of $G$. This is the minimal size of a subset $S$ of conjugate elements such that for each $1 \ne x \in G$, there exists $s \in S$ with $G = \langle x, s \rangle$. (This invariant is closely related to the total domination number of the generating graph of $G$, which explains our choice of terminology.) By the result of Guralnick and Kantor, we have $\gamma_u(G) \leqslant |C|$ for some conjugacy class $C$ of $G$, and the aim of this paper is to determine close to best possible bounds on $\gamma_u(G)$ for each family of simple groups. For example, we will prove that there are infinitely many non-abelian simple groups $G$ with $\gamma_u(G) = 2$. To do this, we develop a probabilistic approach, based on fixed point ratio estimates. We also establish a connection to the theory of bases for permutation groups, which allows us to apply recent results on base sizes for primitive actions of simple groups., Comment: 35 pages; to appear in Trans. Amer. Math. Soc

A group is $\frac{3}{2}$-generated if every non-identity element is contained in a generating pair. A conjecture of Breuer, Guralnick and Kantor from 2008 asserts that a finite group is $\frac{3}{2}$-generated if and only if every proper quotient of the group is cyclic, and recent work of Guralnick reduces this conjecture to almost simple groups. In this paper, we prove a stronger form of the conjecture for almost simple symplectic and odd-dimensional orthogonal groups. More generally, we study the uniform spread of these groups, obtaining lower bounds and related asymptotics. This builds on earlier work of Burness and Guest, who established the conjecture for almost simple linear groups., Comment: 32 pages; to appear in J. Algebra