Research article

Curvature estimation for point cloud 2-manifolds based on the heat kernel

  • Received: 30 July 2024 Revised: 24 September 2024 Accepted: 16 October 2024 Published: 15 November 2024
  • MSC : 53A45, 53A70

  • The geometry processing of a point cloud 2-manifold (or point cloud surface) heavily depends on the discretization of differential geometry properties such as Gaussian curvature, mean curvature, principal curvature, and principal directions. Most of the existing algorithms indirectly compute these differential geometry properties by seeking a local approximation surface or fitting point clouds with certain polynomial functions and then applying the curvature formulas in classical differential geometry. This paper initially proposed a new discretized Laplace-Beltrami operator by applying an inherent distance parameter, which acts as the foundation for precisely estimating the mean curvature. Subsequently, the estimated mean curvature was taken as a strong constraint condition for estimating the Gaussian curvatures, principal curvatures, and principal directions by determining an optimal ellipse. The proposed methods are mainly based on the heat kernel function and do not require local surface reconstruction, thus belonging to truly mesh-free methods. We demonstrated the correctness of the estimated curvatures in both analytic and non-analytic models. Various experiments indicated that the proposed methods have high accuracy. As an exemplary application, we utilized the mean curvature for detecting features of point clouds.

    Citation: Kai Wang, Xiheng Wang, Xiaoping Wang. Curvature estimation for point cloud 2-manifolds based on the heat kernel[J]. AIMS Mathematics, 2024, 9(11): 32491-32513. doi: 10.3934/math.20241557

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  • The geometry processing of a point cloud 2-manifold (or point cloud surface) heavily depends on the discretization of differential geometry properties such as Gaussian curvature, mean curvature, principal curvature, and principal directions. Most of the existing algorithms indirectly compute these differential geometry properties by seeking a local approximation surface or fitting point clouds with certain polynomial functions and then applying the curvature formulas in classical differential geometry. This paper initially proposed a new discretized Laplace-Beltrami operator by applying an inherent distance parameter, which acts as the foundation for precisely estimating the mean curvature. Subsequently, the estimated mean curvature was taken as a strong constraint condition for estimating the Gaussian curvatures, principal curvatures, and principal directions by determining an optimal ellipse. The proposed methods are mainly based on the heat kernel function and do not require local surface reconstruction, thus belonging to truly mesh-free methods. We demonstrated the correctness of the estimated curvatures in both analytic and non-analytic models. Various experiments indicated that the proposed methods have high accuracy. As an exemplary application, we utilized the mean curvature for detecting features of point clouds.



    Topological games (TGs, for short) with perfect information were introduced and studied by Berge [3]. Many authors have them to solve some topological problems (e.g., [35,36]). For further details, see [3,4,23,27]. TGs have been extended to topological spaces [9,10,12,13] and their applications. The continuity on multifunctions is studied in [14]. Pears [32] has defined and studied TGs for continuous multifunctions. Recently, topological spaces have been used in applications to study graphs in [15,16,17,18,22,24] which are used in physics [8,11,19,20] and smart cities [2].

    Topologically, X and Y are topological spaces (TSs, for short). A multifunction of X into Y is defined as a function ϝ:X2Y, where 2Y is the power set of Y. Additionally, ASO(X) [25] if an open set U of X s.t. UACl(U), where Cl(U) is the closure of U w.r. to X. Ewert and Lipski [21] introduced the concept of irresolute multifunctions. Papa and Noiri [33] further studied irresolute multifunctions. For AX, the interior of A will be denoted by Int(A). Multifunctionally, the upper and lower inverses of ϝ:XY are ϝ+(B)= {xX:ϝ(x)B} and ϝ(B)= {xX:ϝ(x)Bϕ}, respectively.

    Throughout the present paper, some new properties of upper (lower) α-irresolute multifunctions due to Neubrunn [30] and Noiri and Nasef [31] are modified and studied. Also, we apply the results to introduce and study new types of TGs for irresolute multifunctions, such as locally finite games, upper and lower TGs and optimal strategies for TGs.

    Here, the class of semi-open sets of X is named SO(X), and SO(X,x) is all semi-open sets of X containing xX. Its complement is called semi-closed [5] and named SC(X). AX is α-open [29] if AInt(Cl(Int(A))). The class of all α-open sets is denoted by αO(X). Its complement is α-closed and is denoted by αC(X).

    Definition 1.1. [21]A multifunction ϝ:XY is

    (a) upper irresolute (resp. lower irresolute) at xX if VSO(Y) s.t. ϝ(x)V (resp. ϝ(x)Vϕ), USO(X,x) s.t. ϝ(u)V (resp. ϝ(u)Vϕ), uU.

    (b) upper irresolute (resp. lower irresolute) if it is upper irresolute (resp. lower irresolute) at all xX.

    Definition 1.2. [6] A subset A of (X,τ) is semi-comp (s-comp, for short) if every cover of A by SO(X,τ) has a finite subcover.

    Lemma 1.1. [1] For a subset A of X, αCl(A)= AτCl(τInt(τCl(A))).

    Numerous characterizations of upper (resp. lower) α-irresolute functions have been published in the literature [4,30,31], and we add a few more.

    Definition 2.1. A multifunction F:(X,τ)(Y,σ) is called α-irresolute at xX if pairs WiαO(Y,σ), i=1,2, s.t. F(x)W1 and F(x)W2ϕ, Hα(X,x) with F(H)W1 s.t. F(h)W2ϕ hH.

    Thus, F:(X,τ)(Y,σ) is α-irresolute if it exhibits the aforementioned quality at each xX.

    Theorem 2.1. The following are equivalent:

    (i) F is α-irresolute at xX;

    (ii) for any W1,W2αO(Y,σ) s.t. F(x)W1 and F(x)W2ϕ, we get xτInt(τCl(τInt[F+(W1)F(W2)]));

    (iii) W1,W2αO(Y,σ) with F(x)W1, F(x)W2ϕ and for any open set UX having x, a nonempty open set G of X with GU, F(G)W1 and F(g)W2ϕ gG.

    Proof. (i) (ii): Let WiαO(Y,σ), i=1,2, s.t F(x)W1 and F(x)W2ϕ. By assumption, HαO(Y,x) s.t. F(H)W1 and F(h)W2ϕ hH. So, xHF+(W1) and, xHF(W2)ϕ. Hence, xHF+(W1)F(W2). Since H is α-open in X, xHτInt(τCl(τInt(H))) τInt(τCl(τInt[F+(W1)F(W2)])).

    (ii) (iii): Let WiαO(Y,σ), F(x)W1, and F(x)W2ϕ. However, (ii) gives xτInt(τCl(τInt[F+(W1)F(W2)])). Also, let Uϕ containing x. Then, U[τInt[F+(W1)F(W2)]] U[τIntF+(W1) τIntF(W2)]=G, which is open, and GτIntF+(W1). Also, GτIntF(W2) F(W2), so F(G) W1 and F(g)W2ϕ gG.

    (iii) (i): This follows immediately from the observation τ(x) α(X,x).

    Theorem 2.2. The following are equivalent:

    (i) F is α-irresolute;

    (ii) for any W1,W2αO(Y,σ), F+(W1)F(W2)αO(X,τ);

    (iii) α-closed sets K1,K2Y, F(K1)F+(K2) is α-closed;

    (iv) B1,B2Y, τCl(τInt(τCl[F(B1)B+(B2)])) F(αCl(B1))F+(αCl(B2));

    (v) αCl[F(B1)F+(B2)] F(αCl(B1)F+(αCl(B2) for any B1,B2Y;

    (vi) F(αInt(B1))F+(αInt(B2)) αInt[F(B1)F+(B2)] for any B1,B2Y;

    (vii) for xX and α-nbd N of F(x), then for every WαO(Y,σ) s.t. WF(x)ϕ, F+(N)F(W) is an α-nbd of x;

    (viii) Let for any xX and α-nbd N of F(x). Then, for every WαO(Y,σ) s.t. WF(x)ϕ, α-nbd U of x s.t. F(U)N and F(u)Wϕ uU.

    Proof. (i) (ii): Let xF+(W1)F(W2) for any W1,W2αO(Y,σ). Then, F(x)W1 and F(x)W2ϕ. Since F is α-irresolute, by Theorem 2.1, xτInt(τCl(τInt[F+(W1) F(W2)])).

    (ii) (iii): Immediately from that, if VY, then F(YV)= XF+(V), and F+(YV)= XF(V).

    (iii) (iv): Let B1,B2Y. Then, αCl(Bi)αC(Y), i=1,2, where αC(Y) will denote to the class of α closed sets of Y. By (iii), F(αCl(B1)) F+(αCl(B2))αC(X,τ), i.e., τCl(τInt(τCl[F(αCl(B1)) F+(αCl(B2))])) F(αCl(B1)) F+(αCl(B2)), since F+(B2) F+(αCl(B2)) and F(B1) F(αCl(B1)). Consequently, τCl(τInt(τCl[F(B1) F+(B2)])) τCl(τInt(τCl[F(αCl(B1)) F+(αCl(B2))])) F(αCl(B1)) F+(αCl(B2)).

    (iv) (v): Directly by Lemma 1.1.

    (v) (vi): XαInt[F(B1) F+(B2)] αCl[X(F((B1) F+(B2)]= αCl[(XF(B1))(XF+(B2))]= αCl[F+(YB1)F(YB2) F+(αCl(YB1))F(αCl(YB2))= F+(YαInt(B1)) F(YαInt(B2))= (XF(αInt(B1)) (XF+(αInt(B2))= X[F(αInt(B1)) F+(αInt(B2))]. Therefore, αInt[F(B1)F+(B2)] [F(αInt(B1) F+(αInt(B2)].

    (vi) (vii): Let xX, N be an α-nbd of F(x), and WαO(Y) with F(x)Wϕ. Then, U1,U2αO(Y) s.t. U1N, U2W, F(x)U1 and F(x)U2ϕ. Thus, xF+(U1)F(U2). By assumption, xF+(U1)F(U2)= F+(αInt(U1))F(αInt(U2)) αInt[F+(U1)F(U2)] αInt[F+(N)F(W)] F+(N)F(W). It follows that F+(N)F(W) is an α-nbd of x.

    (vii) (viii): Let xX, N be an α-nbd of F(x) and WαO(Y,σ) with F(x)Wϕ. Then, U=F+(N)F(W) is an α-nbd of x, F(U)N, and F(u)Wϕ uU.

    (viii) (i): Clear by given hypothesis.

    Noiri and Nasef [31] provided the following definitions of upper and lower α-irresoluteness.

    Theorem 2.3. The following are equivalent:

    (1) F is upper (resp. lower) α-irresolute;

    (2) F+(W) (resp. F(W)) αO(X,τ), WαO(Y,σ);

    (3) F(K) (resp. F+(K)) αC(X,τ) K αC(Y,σ);

    (4) sInt(Cl(F(B))) F(αCl(B)) (resp. sInt(Cl(F+(B))) F+(αCl(B)) BY;

    (5) αCl(F(B)) F(αCl(B)) (resp. αCl(F+(B)) F+(αCl(B)) BY.

    Theorem 2.4. The following are equivalent:

    (1) F is lower α-irresolute;

    (2) F(τCl(τInt(τCl(H)))) F(H) HαO(X,τ);

    (3) F(αCl(H))F(H) HαO(X,τ).

    Proof. (1)(2): By comparison with Theorem 2.3 and W=F(H), the proof is followed.

    (2) (3): Follows using Lemma 1.1.

    (3) (1): Let xX and WαO(Y) with F(x)Wϕ. Then, xF(W). By (iii), F(αCl(F+(YW))) F(F+(YW)) YW. So, αCl(F+(YW)) F+(YW). Hence, F+(YW)αC(X,τ), and then F(W)αO(X). Set H=F(W), Hα(X,x), and F(h)Wϕ hH. Therefore, F is lower α-irresolute.

    Lemma 2.1. [33]For all VO(Y), (αClF)(V)= F(V).

    Proof. Let VO(Y) and x(αClF)(V). Then, (αClF)(x)V= αCl(F(x))Vϕ, and so F(x)V= ϕ. By openness of V, xF(V), and so (αClF)(V) F(V). On the other side, let xF(V). Then, ϕF(x)V (αClF)(x)V, and so x(αClF)(V). Thus, we get F(V) (αClF)(V). Therefore, (αClF)(V)= F(V).

    Theorem 2.5. F:XY is lower α-irresolute iff αClF:XY is so.

    Proof. "", let F be lower α-irresolute, VO(Y) s.t. (αClF)(x)Vϕ, for xX. By Lemma 2.1, x(αClF)(V)= F(V), and so F(x)Vϕ. By assumption of F, Uα(X,x) s.t. UF(V)= (αClF)(V). Hence, αClF is lower α-irresolute. "", let αClF be lower α-irresolute, xX, and VO(Y) with F(x)Vϕ. By Lemma 2.1, xF(V)= (αClF)(V). By assumption, Uα(X,x) s.t. U(αClF)(V)= F(V).

    The following lemma was shown by Mashhour [26] and Rielly and Vamanamurthly [34]. A subset A is γ-open [7] if AInt(Cl(A))Cl(Int(A)). The class of all γ-open sets is denoted by γO(X). It is noted that SO(X)PO(X) γO(X).

    Lemma 3.1. Let A and B be subsets of a TS (X,τ). Then

    (i) If AγO(X) and BαO(X), then ABαO(A).

    (ii) If ABX, AαO(B), and BαO(X), then AαO(X).

    Theorem 3.1. Let F:(X,τ)(Y,σ) be upper (resp. lower) α-irresolute, and X0γO(X,τ). Then, the restriction FX0:(X0,τX0)(Y,σ) is upper (resp. lower) α-irresolute.

    Proof. Let xX0 and VαO(Y) s.t. (FX0)(x)V. By upper α-irresoluteness of F, (FX0)(x)= F(x), and UαO(X) having x s.t. F(U)V. Take U0= UX0, and then by Lemma 3.1, we get xU0αO(X0) and (FX0)(U0)V. Hence, FX0 is upper α-irresolute. Lower α-irresoluteness is analogous.

    Theorem 3.2. F:(X,τ)(Y,σ) is upper (resp. lower) α-irresolute if xX, X0αO(X) having x s.t. the restriction FX0:(X0,τX0)(Y,σ) is upper (resp. lower) α-irresolute.

    Proof. Let xX and VαO(Y) s.t. F(x)V. X0α(X,x) s.t. FX0 is upper α-irresolute. Therefore, U0αO(X0) having x s.t. (FX0)(U0)V. By Lemma 1, U0αO(X) and F(u)= (FX0)(u) uU0. Hence, F is upper α-irresolute. Lower α-irresoluteness is analogous.

    Corollary 3.1. Let X= λ Uλ, UλαO(X). F:(X,τ)(Y,σ) is upper (resp. lower) α-irresolute iff the restriction FUλ:(Uλ,τUλ)(Y,σ) is upper (resp. lower) α-irresolute for λ.

    Proof. Immediate consequence from Theorems 3.1 and 3.2.

    AX is α-compact (α-comp, for short) if A i=1Ui, UiαO(X), then A=ni=1Ui, where n is finite. In other words, X is α-comp [28] iff X is α-comp of itself. Moreover, A is α-comp iff A is comp w.r. to τα.

    Theorem 3.3. Let F be upper α-irresolute, and F(x) is α-comp w.r. to ταY xX. If A is an α-comp w.r. to X, then F(A) is an α-comp w.r. to Y.

    Proof. Let F(A)= λ {Vλ:VλαO(Y)}. xA, a finite (x) s.t. F(x) λ(x) {Vλ:VλαO(Y)}. Set V(x)= λ(x) {Vλ:VλαO(Y)}. Then, F(x)V(x)αO(Y), and U(x)α(X,x) s.t. F(U(x))V(x). Since {U(x):xA} is an α-open cover of A, a finite number of A, say, x1,x2,,xn s.t. A{U(xi): i=1,2,,n}. Therefore, we get F(A) F(ni=1U(xi)) ni=1V(xi) ni=1λ(x)Vλ. Hence, F(A) is α-comp w.r. to Y.

    Corollary 3.2. Let F be α-irresolute, and F(x) is α-comp w.r. to Y, xX. If X is an α-comp, then Y is so.

    Recall that X is α-normal if for A,BC(X) s.t. AB=ϕ, U,VαO(X) s.t. UV=ϕ, and AU and BV.

    Theorem 3.4. Let Y be α-normal, and Fi:XiY is upper α-irresolute s.t. Fi is closed, i=1,2. Then, {(x1,x2)X1×X2:F1(x1)F2(x2)ϕ}αC(X1×X2).

    Proof. Let A= {(x1,x2)X1×X2:F1(x1)F2(x2)ϕ}, and (x1,x2)A. Then, F1(x1)F2(x2)= ϕ. Since Y is α-normal, and Fi is closed for i=1,2, disjoint V1,V2αO(X) s.t. Fi(xi)Vi for i=1,2. By assumption, F+i(Vi)αO(Xi,xi) for i=1,2. Set U= F+1(V1)×F+2(V2). Then, UαO(X1×X2), and (x1,x2)U(X1×X2)A. Hence, (X1×X2)AαO(X1×X2).

    For a multifunction F:XY, G(F) is G(F)= {(x,y)X×Y:xX and yF(x)}.

    Theorem 3.5. Let Y be a Hausdorff space, and F:XY is upper α-irresolute s.t. F(x) is comp, xX. Then, G(F)αC(X×Y).

    Proof. Let (x,y)(X×Y)G(F). Then, yYF(x). zF(x), disjoint V(z),W(z)O(Y) s.t. zV(z) and yW(z). F(x)= zF(x) V(z), and a finite number in F(x), say, z1,z2,,zn s.t. F(x) {V(zi):1in} and W= {W(zi):1in}. By the upper α-irresoluteness of F, and F(x)V, Uα(X,x) s.t. F(U)V. Therefore, F(U)W= ϕ, and so (U×W)G(F)= ϕ. Since U×WαO(X×Y), and (x,y)U×W (X×Y)G(F), (X×Y)G(F)αO(X×Y).

    Theorem 3.6. If F:XY and G:YZ are lower (resp. upper) α-irresolute, then GF:XZ is so.

    Proof. Let VαO(Z). Since (GF)(V)= F(G)(V) and by lower α-irresoluteness of F and G, we get (GF)(V)αO(X). Thus, GF is lower α-irresolute. Similarly, the upper is satisfied.

    Due to these applications, consider each Xi to be a topological structure, i=1,2,,n, and topologically X= iIXi.

    Definition 4.1. A game G on X for the players I1,I2,,In consists of the following

    (i) {N+,N} from N is a partition of players.

    (ii) {X1,X2,,Xn} from X is a partition of sets.

    (iii) An irresolute multifunction ϝ of X onto itself s.t. ϝ(Xi)Xi= ϕ for i=1,,n.

    (iv) n-bounded real valued functions L1,L2,L3,,Ln on X.

    The procedures of G are as follows:

    The locations are represented by the components of X, and play begins at any point in X. xXi denotes the location of player Ii at x. If x0 is the starting location, the following sequence occurs: Player Ii selects x1ϝ(x0) for xXi. If x1Xj, player Ij selects x2ϝ(x1), and so on. If ϝ(x)= ϕ, the play ends at x. In other terms, a play is a sequence consisting of the elements <x0,ϝ(x0),x1,ϝ(x1),> s.t. x0ϝ(x0), x1ϝ(x1) and so on.

    Definition 4.2. For a sequence of a play <x0,ϝ(x0),x1,ϝ(x1), , xk,ϝ(xk)> with k+1 points, the length of it is k. Here, the kth_ element satisfies ϝ(xk)= ϕ.

    Definition 4.3. G is locally finite (LF, for short) if each play length is finite. If S is the set of locations in a play, the payoff to Ii is either sup{Li(x):xS} or inf{Li(x):xS}, depending on whether IiN+ or IiN. Each player's objective is to maximize their payoff.

    Definition 4.4. If player Ii can make sure that Payoff(Ii) ξ, no matter what other players do, plays beginning with x, no matter what other players do. If Payoff(Ii)> ξ, he is rigorously guaranteeing ξ from x.

    Lemma 4.1. [1] If GO(X) and AX, then GCl(A)Cl(GA).

    Proposition 4.1. If X= iIXi and ASO(X), then AXiSO(Xi) iI. The converse holds only if AO(X).

    Proof. Let ASO(X). Then, AXiCl(Int(A))Xi. Since XiO(X), i, by Lemma 4, AXiCl(Int(A))Xi= Cl(Int(A))Xi. Then, AXi(Cl(Int(A))Xi)Xi= (ClXi(Int(A))Xi)Xi. Since Xi is a subspace of X, iI, then (Int(A)Xi)XiO(Xi). Therefore, AXi ClXi(IntXi(Int(AXi)))Xi= ClXi(IntXi(Int(AXi))) ClXi(IntXi(AXi)). So, AXiSO(Xi), iI. On the other hand, let AO(X), and ASO(Xi). Then, AXi ClXiIntXi(AXi) ClXi(AXi)= XiCl(AXi) Cl(A) Xi implies ACl(A). By openness of A, ACl(IntA), and ASO(X).

    Definition 4.5. For a TS X, L:XR is upper and lower s-continuous if rR, {L(x)<r, xX} and {L(x)>r, xX}, USO(X) s.t. {L(x)<r, xU} and {L(x)>r, xU}, respectively.

    Definition 4.6. G is called

    (i) upper topological (UT, for short) for Ii if Li is upper s-continuous.

    (ii) lower topological (LT, for short) for Ii if Li is lower s-continuous.

    Theorem 4.1. If G is lower for I1N+, then all locations that satisfy I1 is strictly guarantee a gain ξ is in SO(X).

    Proof. (By transfinite induction). Consider the set of starting locations Aξ s.t I1 is a rigorous guarantee of ξ. Then, (X1ϝ(Aξ)) (nj=1(Xjϝ+(Aξ))) Aξ. Note that ϝ+(Aξ)= {xX:ϝ(x) Aξ}, and ϝ(Aξ)= {xX:ϝ(x)Aξ ϕ}. Construct A(Δ)SO(X) s.t. A(Δ)Aξ, ordinal Δ as follows: Let A(0)= {xX:L1(x)>ξ}. By assumption, we get that L1 is lower s-continuous. Thus, A(0)SO(X), and A(0) Aξ. Define A(β)SO(X) Aξ, <Δ. Let Δ be a limit and A(Δ)= <ΔA(). Then, A(Δ)SO(X), and A(Δ) Aξ. If Δ is not a limit ordinal, then Δ= Δ+1. Let A(Δ)= A(Δ) (X1ϝ(A(Δ))) nn=2(Xj ϝ+(A(Δ))) by hypothesis, A(Δ)SO(X) and by Proposition 1, X1ϝ(A(Δ)) and Xjϝ+(A(Δ))SO(X), j=2,3,,n. Since X= iIXi and ϝ is irresolute, then A(Δ)SO(X) and A(Δ) Aξ, for A(Δ) Aξ and (X1ϝ(A(Δ))) nj=2(Xj ϝ+(A(Δ))) (X1ϝ(Aξ)) nj=2(Xj ϝ+(Aξ)) Aξ. Hence, ordinal Δ, A(Δ)SO(X), and A(Δ) Aξ. Since the sequence {A(Δ)} is increasing and cannot be constant, A(Δ0)= A(Δ0+1)= , for some Δ0. Let A= XA(Δ0). If xAX1, then ϝ(x) A, while if xAXj, where j1, then ϝ(x) Aϕ. Therefore, if a play begins from a point in A, for instance, I1 does, players I2, I3, , In can ascertain that a location in A(Δ0) is never achieved. A(Δ0) A(0)= {x:L1(x)>ξ}. Thus, if xA, then xA(Δ0), and so xAξ, and so Aξ A(Δ0). A(Δ0) Aξ by construction, and so Aξ= A(Δ0). Hence, AξSO(X).

    Remark 4.1. Although the complement of SO(X) is SC(X), and ϝ is irresolute, ϝ+(X)SO(X). Then, X0= Xϝ+(X)SC(X) and the complement of criteria in Theorem 4.1 does not hold that the set of places from which I1 may ensure a benefit for ξ is semi-closed. Theorem 4.2 specifies additional requirements for the semi-closed nature of this set.

    Theorem 4.2. Let G be UT for I1N+, LF, and X0= {x:ϝ(x)= ϕ}SO(X). Then, the set of places s.t. I1 may guarantee a gain to the holder is in SO(X).

    Proof. (By transfinite induction). Define X(Δ)SO(X) ordinal Δ. Let X(0)= X0= {x:ϝ(x)= ϕ}. Then, X(0)SO(X). Construct X()SO(X) ordinals <Δ. If Δ is limit, and X(Δ)= (<ΔX())SO(X). If Δ has a precursor Δ i.e. Δ= Δ+1, take X(Δ)= X(Δ) ϝ+(X(Δ)). By ϝ irresoluteness, X(Δ)SO(X). Thus, ordinal Δ, by transfinite induction, X(Δ)SO(X). If <Δ, X()<X(Δ). Hξ is defined as the collection of places from which I1 may guarantee ξ. Then, (X1 ϝ(Hξ)) nj=2(Xj ϝ+(Hξ)) Hξ. Define a set H(Δ), Δ s.t.

    (i) H(Δ)Hξ;

    (ii) if <Δ, H()H(Δ);

    (iii) if <Δ, H(Δ)X()= H() X(); and

    (iv) H(Δ)X(Δ)SC(X) in X(Δ).

    The conditions (i)-(iv) can be satisfied in three claims.

    Claim I. Let H(0)= {x:L1(x)ξ}. Since L1 is upper s-continuous, H(0)SC(X) in X. Also, H(0)Hξ, and so (H(0)X(0))SC(X) in X(0). Consider H() that satisfies conditions (i)-(iv) is constructed, <Δ.

    Claim II. If Δ is a limit ordinal, take H(Δ)= <ΔH(). Then, H(Δ)Hξ, <Δ. Also, if <Δ, then H()H(Δ), and if <Δ, H(Δ) X()= (<ΔH()) X()= <Δ(H()) X(). If <Δ, then H() X() H() X(β); and if <Δ, H()X()= H() X(). Hence, H() X()= H() X(), and (iii) is satisfied. If xX(Δ), and xH(Δ), then xX() for some <Δ, and xH(). Now, H() X()SC(X) in X(), and so a semi-open nbd A of x in X() s.t. AH()= ϕ. Now, since X(), and ASO(X) and AX()X(Δ), ASO(X) in X(Δ). By (iii), X() H(Δ)= X() H(), and so A is a semi-open nbd of x in X(Δ) s.t. AH(Δ)= ϕ. Thus, (iv) is satisfied.

    Claim III. If Δ has a predecessor Δ. This means that Δ= Δ+1. Take H(Δ)= H(Δ) (X1ϝ(H(Δ))) nj=2(Xjϝ+(H(Δ))). Since H(Δ) Hξ, and X1ϝ(H(Δ)) nj=2(Xj ϝ+(H(Δ))) (X1 ϝ(Hξ)) nj=2(Xjϝ+(Hξ)) Hξ, (i) is satisfied, and (ii) is clear. Suppose <Δ. If xX(), and ϝ(x)ϕ, then ϝ(x) X() for some <. Thus, if xX() (X1ϝ(H(Δ))), ϝ(x) {X() H(Δ)} ϕ for < Δ. Thus, xX() (X1 ϝ(H())) X() H(+1) X() H(). In the same manner, if j1, X() (Xjϝ+(H(Δ))) X() H(). Also, X() H(Δ)= X() H(). Thus, X() X(Δ)= X() [H(Δ) (X1 ϝ(H(Δ))) nj=2Xj ϝ+(H(Δ))]= X() H(), and so (iii) is satisfied. Finally, for (iv), suppose that xX(Δ), and xH(Δ). If xX(Δ), then xH(Δ), and since (H(Δ)X(Δ))SC(X) in X(Δ), a semi-open nbd A of x in X(Δ) s.t. AH(Δ)= ϕ. Since X(Δ)SO(X), and AX(Δ)X(Δ), A is a semi-open nbd of x in X(Δ); and since X(Δ) H(Δ)= X(Δ)H(Δ), by (iii), AH(Δ)= ϕ. If x(X(Δ)X(Δ))X1, then ϝ(x)(X(Δ)H(Δ)). (X(Δ)H(Δ))SO(X) in X(Δ) and so is semi-open in X. X1ϝ+(X(Δ)H(Δ)) is a semi-open nbd of x s.t. [X1ϝ+(X(Δ)H(Δ))] H(Δ)=ϕ. If x(X(Δ)X(Δ))Xj, then ϝ(x)(X(Δ)H(Δ))ϕ, and Xjϝ(X(Δ)H(Δ)) is a semi-open nbd of x s.t. [Xjϝ(X(Δ)H(Δ))] H(Δ)= ϕ. In either case, if xX(Δ) and xH(Δ), a semi-open nbd of x in X(Δ) which does not intersect with H(Δ). Therefore, (H(Δ)X(Δ))SO(X) in X(Δ), and (iv) is satisfied. Thus, construct H(Δ), ordinal Δ s.t. (i)-(iv) are satisfied. By Berge [3], since G is locally finite, X=X(Δ0) for some ordinal Δ0. Thus, H(Δ0)SO(X); and if Δ>Δ0, H(Δ)=H(Δ) H(Δ0)= H(Δ0). Let H= XH(Δ0). If xHX1, then ϝ(x)H, and if xHXj, where j1, then ϝ(X) Hϕ. Thus, if a play starts with a location in H, whatever I1 does, players I2, I3, , I1 can prevent a location in H(Δ0) from ever being reached. However, H(Δ0) H(0)= {x:L1(x)ξ}, and so HξH(Δ0). However, H(Δ0)Hξ by construction, and so H(Δ0)= Hξ. Thus, HξSC(X).

    The assumption of Theorem 4.2 cannot be weakened. As seen in Example 4.1, if X0SO(X), the conclusion of Theorem 4.2 is false.

    Example 4.1. Players P1 and P2 played on the topological sum of X1 and X2 on a segment (1,m] of R. Let (x;i) be the point xXi and consider

    ϝ(x;i)={(x1,j)ijx>0,ϕx0.

    Suppose that I1N+ and

    L1(x)={1xX2andx0,0otherwise.

    Due to the fact that L1 is upper s-continuous, G is UT for I1N+. The starting locations s.t. I1 may ensure unit gain are {(x;1):0<x1,2<x3,} {(x;2):1<x2,3<x4,}SC(X).

    Example 4.2 shows that the conclusion of Theorem 4.2 may be true, in general.

    Example 4.2. Consider X=X1X2, where X1=R and X2=YZ, where Y,ZR. Consider (x;1), (x;2) and (x;0) are denoted by X1, Y and Z, respectively. Let

    ϝ(x;1)={(x;0)}{(y;2):∣xy∣≤3x},ϝ(x;2)={(y;1):∣xy∣≤1/2x},ϝ(x;0)=ϕ.Then,X0=Z

    Consider I1N+ and L1(x;0)=1 at x, and f1=0, otherwise. Although G is upper TG for I1N+ and X0SO(X), it is not LF. The locations defined in X1 from which I1 may ensure unit gain are as follows: n=0{(x;1):∣x∣≥1/2n}= {(x;1):∣x∣>0}SC(X). However, X=X1X2, and hence the set of beginning locations from which I1 may ensure unit gain is not included in SC(X).

    Corollary 4.1. If G is UT for I1N, then the set of locations where I1 can guarantee ξ which is semi-closed is UT.

    Proof. Let Aξ be the set of start locations s.t. I1 cannot guarantee ξ. Similar to Theorem 4.1, construct ASO(X) s.t. {x:L1(x)<ξ} AAξ. Then, AcSC(X), where Ac=XA. If xAcX1, then ϝ(x)Acϕ, and if xAcXj s.t. j1, then ϝ(x) Ac. So, if a play starts with a location in Ac, I1 can ascertain that a location in H is never gained. Thus, if Hξ is the set of start locations s.t I1 may guarantee ξ, HξAc. However, AξA and Hξ Aξ= ϕ and so Hξ= Ac. Therefore, HξSC(X).

    Corollary 4.2. Let G be LF and has a LT dimension for I1N, and X0= {x:ϝ(x)= ϕ}SO(X). Then, the set of locations s.t. I1 may be used to strictly guarantee a gain ξ is semi-closed.

    Proof. Let Kξ be the start locations s.t. I1 may not strictly guarantee ξ. By a modification in the proof of Theorem 4.2, KξSC(X). However, if Aξ is the start locations s.t. I1 can strictly guarantee ξ, Aξ= XKξ, and so AξSO(X).

    Definition 4.7. Let X0= {x:ϝ(x)= ϕ}, and a strategy for player Ii is a function :(XiX0)X s.t. (x)ϝ(x), xXiX0. The play of G is completely determined by its strategy.

    Definition 4.8. A strategy for player I1 is guarantee him with ξ from a start location x if play begins with x and I1 employs a strategy . He receives a payoff ξ regardless of the strategies used by other players.

    Definition 4.9. Let Ψ(x)= sup{ξ:xHξ}, where xX, and Hξ is the locations, for each ξ s.t. I1 may guarantee ξ. A strategy for player I1 is optimal if it guarantees Ψ(x) from the start location x, xX.

    Now, assume that Υ represents the techniques used by player I1. Given that each strategy for I1 is a function between X1X0 and X. If X(X1X0) is denoted by functions from X1X0 to X, then ΥX(X1X0). In this case, Υ has a relative product topology.

    Theorem 4.3. Suppose that only one of the following holds:

    (i) G is LF and UT for I1N+ s.t. X0SO(X);

    (ii) ϝ an upper TG for I1N. If ϝ(x) is s-comp, xX1X0, then the optimal strategies for I1 is nonempty and SC(X) in Υ

    Proof. Let ϝ(x) be s-comp. Using Definition 1.2 xX1X0, Υ= xX1X0ϝ(x) is s-comp. Let Sξ be the strategies s.t. I1 may guarantee ξ from any start point in Hξ. Clearly, Sξϕ if Hξϕ. It is sufficient to prove that SξSC(X) in Υ. Suppose Υ, Sξ. Then, for some xX1Hξ, (x)Hξ. By assumption (i) and Theorem 4.2 or assumption (b) and Corollary 4.1, we get HξSC(X), so a semi-open nbd N of (x) in X s.t. NHξ=ϕ. If M()={δ:δΥ} and δ(x)N, M() is a semi-open nbd of , and M() Sξ= ϕ. Thus, SξSC(X) in Υ. Let x0X, and consider {Sξ:ξ<Ψ(x0)}. Consider ξ1<ξ2< <ξn<Ψ(x0). Then, x0Hξi, i, and Hξ1 Hξ2 Hξn. Suppose that Hξk (X1X0)ϕ and that kn the greatest integer. Then, for k<jn, ϝ(Hξj) (X1X0)= ϕ, and Sξj= Υ. Let iSξi for 1ik, and Υ, where for xX1X0,

    (x)={k(x):xHξki(x):xHξiHξi+1,i=1,2,,k11(x):xHξ2

    Then, Sξ1 Sξ2 Sξn. Thus, x0X, {Sξ:ξ<Ψ(x0)}SC(X) with the finite intersection property. Let S(x)= ξ<ψ(x0)Sξ. So, S(x)SC(X). Now, consider {S(x):xX}. Suppose that x1,x2,,xnX. If Ψ(xm)= max1inΨ(xi), S(xm) S(xi). Thus, {S(x):xX}SC(X) with the finite intersection property. Let S= xXS(x). Thus, S is nonempty and semi-closed in Υ. However, S is an optimal strategy for I1. If S(x) ξ<Ψ(x) and so the guarantee for I1 that is Ψ(x) when the play beginning with x. Thus, if xXS(x), then is optimal. Conversely, if is optimal for I1, guarantees I1 if the play starts with x, and so ξ<Ψ(x)Sξ. This holds for xX, and so S= xXξ<Ψ(x)Sξ.

    The representation of multifunctions using α-irresoluteness and topological game theory are investigated and discussed. Moreover, new properties of upper (lower) α-irresoluteness due to Neubrunn [30] and Noiri and Nasef [31] are modified and analyzed. The strategy for the play in topological games is completely determined.

    The researchers would like to thank the Deanship of Scientific Research, Qassim University, for funding the publication of this project.

    The authors declare that they have no competing interests.



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