Skip to main content

Approximating fixed points for nonself mappings in CAT(0) spaces

Abstract

Suppose K is a nonempty closed convex subset of a complete CAT(0) space X with the nearest point projection P from X onto K. Let T : KX be a nonself mapping, satisfying Condition (E) with F(T): = {x K : Tx = x} . Suppose {x n } is generated iteratively by x1 K, x n +1 = P ((1 - α n )x n α n TP [(1 - β n )x n β n Tx n ]),n ≥ 1, where {α n } and {β n } are real sequences in [ε, 1 - ε] for some ε (0, 1). Then, {x n } Δ-converges to some point x in F(T). This extends a result of Laowang and Panyanak [Fixed Point Theory Appl. 367274, 11 (2010)] for nonself mappings satisfying Condition (E).

1 Introduction

In 2010, Laowang and Panyanak [1] studied an iterative scheme and proved the following result: let K be a nonempty closed convex subset of a complete CAT(0) space X, (the initials of term "CAT" are in honor of E. Cartan, A.D. Alexanderov and V.A. Toponogov) with the nearest point projection P from X onto K. Let T : KX be a nonexpansive nonself mapping with nonempty fixed point set. If {x n } is generated iteratively by

x 1 K, x n + 1 =P ( ( 1 - α n ) x n α n T P [ ( 1 - β n ) x n β n T x n ] ) ,
(1.1)

where {α n } and {β n } are real sequences in [ε, 1 - ε] for some ε (0, 1), then {x n } is Δ-convergent to a fixed point of T. In this article, this result is extended for nonself mappings satisfying Condition (E).

Let K be a nonempty subset of a CAT(0) space X and T : KX be a mapping. A point x K is called a fixed point of T, if x = Tx. We shall denote the fixed point set of T by F(T). Moreover, T is called nonexpansive if for each x, y K, d(Tx, Ty) ≤ d(x, y).

In 2011, Falset et al. [2] introduced Condition (E) as follows:

Definition 1.1. Let K be a bounded closed convex subset of a complete CAT(0) space X. A mapping T : KX is called to satisfy Condition (E μ ) on C, if there exists μ ≥ 1 such that

d ( x , T y ) μ d ( T x , x ) + d ( x , y )

holds, for all x, y K. It is called, T satisfies Condition (E) on C whenever T satisfies (E μ ) for some μ ≥ 1.

Proposition 1.2 [2]. Every nonexpansive mapping satisfies Condition (E), but the inverse is not true.

Now, we need some fact about CAT(0) spaces as follows:

Let (X, d) be a metric space. A geodesic path joining x X to y X (or, more briefly, a geodesic from x to y) is a map c from a closed interval [0, l] R to X such that c(0) = x, c(l) = y and d(c(t), c(t')) = ||t - t'|| for all t, t' [0, l]. In particular, c is an isometry and d(x, y) = l. The image α of c is called a geodesic (or metric) segment joining x and y. When it is unique, this geodesic is denoted by [x, y]. The space (X, d) is said to be a geodesic space, if every two points of X are joined by a geodesic, and X is said to be uniquely geodesic if there is exactly one geodesic joining x to y, for each x, y X. A subset Y X is said to be convex if Y includes every geodesic segment joining any two of its points. A geodesic triangle Δ(x1, x2, x3) in a geodesic metric space (X, d) consists of three points in X (the vertices of Δ) and a geodesic segment between each pair of vertices (the edges of Δ). A comparison triangle for geodesic triangle Δ(x1, x2, x3) in (X, d) is a triangle Δ ̄ ( x 1 , x 2 , x 3 ) :=Δ ( x ̄ 1 , x ̄ 2 , x ̄ 3 ) in the Euclidean plane E2 such that d E 2 ( x ̄ i , x ̄ j ) =d ( x i , x j ) for i, j {1, 2, 3}. A geodesic metric space is said to be a CAT(0) space [3], if all geodesic triangles of appropriate size satisfy the following comparison axiom. Let Δ be a geodesic triangle in X and Δ ̄ be a comparison triangle for Δ. Then Δ is said to satisfy the CAT(0) inequality if for all x, y Δ and all comparison points x ̄ ,ȳ Δ ̄ ,

d ( x , y ) d E 2 ( x ̄ , ȳ ) .
(1.2)

If x, y1, y2 are points in a CAT(0) space and y0 is the midpoint of the segment [y1, y2], then the CAT(0) inequality implies

d ( x , y 0 ) 2 1 2 d ( x , y 1 ) 2 + 1 2 d ( x , y 2 ) 2 - 1 4 d ( y 1 , y 2 ) 2 .
(CN)

In fact, a geodesic space is a CAT(0) space if and only if it satisfies the (CN) inequality (Courbure negative)[[3], p. 163].

Lemma 1.3. Let (X, d) be a CAT(0) space.

1. [[3], Proposition 2.4] Let K be a convex subset of X which is complete in the induced metric. Then for every x X, there exists a unique point P(x) K such that d(x, P(x)) = inf{d(x, y): y K}. Moreover, the map xP(x) is a nonexpansive retract from X onto K.

2. [[4], Lemma 2.1] For x, y X and t [0, 1], there exists a unique point z [x, y] such that

d ( x , z ) = t d ( x , y ) , d ( y , z ) = ( 1 - t ) d ( x , y )

one uses the notation (1 - t)x ty for the unique point z.

3. [[4], Lemma 2.4] For x, y, z X and t [0, 1], one has

d ( ( 1 - t ) x t y , z ) ( 1 - t ) d ( x , z ) + t d ( y , z ) .

[[4], Lemma 2.5] For x, y, z X and t [0, 1], one has

d ( ( 1 - t ) x t y , z ) 2 ( 1 - t ) d ( x , z ) 2 + t d ( y , z ) 2 - t ( 1 - t ) d ( x , y ) 2 .

Let {x n } be a bounded sequence in a CAT(0) space X. For x X, we set

r ( x , { x n } ) = lim sup n  d ( x , x n ) .

The asymptotic radius

r ( { x n } ) = inf { r ( x , { x n } ) : x X } ,

and the asymptotic center A({x n }) of {x n } is the set

A ( { x n } ) = { x X : r ( x , { x n } ) = r ( { x n } ) } .

It is known [[5], Proposition 7], in a CAT(0) space X, A({x n }) consists of exactly one point.

Definition 1.4. [[6], Definition 3.1] A sequence {x n } in a CAT(0) space X is said Δ-converges to x X, if x is the unique asymptotic center of {u n } for every subsequence {u n } of {x n }. In this case, one can write Δ - lim n x n = x and call x the Δ - lim of {x n }.

Lemma 1.5. Let (X, d) be a CAT(0) space.

1. [[6], p. 3690] Every bounded sequence in X has a Δ-convergent subsequence.

2. [[7], Proposition 2.1] If K is a closed convex subset of X and if {x n } is a bounded sequence in K, then the asymptotic center of {x n } is in K.

3. [[4], Lemma 2.8] If {x n } is a bounded sequence in X with A({x n }) = {x} and {u n } is a subsequence of {x n } with A({u n }) = {u} and the sequence {d(x n , u)} converges, then x = u.

2 Main results

The following lemma was proved by Dhompongsa and Panyanak in the case of nonexpansive [[4], Lemma 2.10].

Lemma 2.1. Let K be a nonempty closed convex subset of a complete CAT(0) space X, and T : KX be a nonself mapping, satisfying Condition (E). Suppose {x n } is a bounded sequence in K such that lim n d(x n , Tx n ) = 0 and {d(x n , v)} converges for all v F (T). Then

ω w ( x n ) F ( T ) ,

where ω w ( x n ) :=A ( { u n } ) and the union is taken over all subsequences {u n } of {x n }. Moreover, ω w (x n ) consists of exactly one point.

Proof. Let u ω w (x n ), then there exists a subsequence {u n } of {x n } such that A({u n }) = {u}. By part (1) and (2) of Lemma 1.5, there exists a subsequence {v n } of {u n } such that Δ - lim n v n = v K. We show v F (T). In order to prove this, by Condition (E), one can write

d ( x n , T v ) μ d ( T x n , x n ) + d ( x n , v )

for some μ ≥ 1. Therefore

lim sup n d ( x n , T v ) lim sup n ( μ d ( T x n , x n ) + d ( x n , v ) ) = lim sup n d ( x n , v ) .

The uniqueness of asymptotic center, implies v K and T(v) = v. By part (3) Lemma 1.5, u = v. Therefore ω w (x n ) F(T). Let {u n } be a subsequence of {x n } with A({u n }) = {u} and A({x n }) = {x}. Since u ω w (x n ) F(T), {d(x n , v)} converges. By part (3) Lemma 1.5, x = u. This shows that ω w (x n ) consists of exactly one point. □

Theorem 2.2. Let K be a nonempty closed convex subset of a complete CAT(0) space X, and T : KX be a nonself mapping, satisfying Condition (E) with x F(T) = {x K : Tx = x}. Let {α n } and {β n } be sequences in [ε, 1 - ε] for some ε (0, 1). Starting from arbitrary x1 K, define the sequence {x n } by x n +1 = P((1 - α n )x n α n TP[(1 - β n )x n β n Tx n ]), n ≥ 1. Then lim n →∞ d(x n , x) exists.

Proof. By part (1) of Lemma 1.3, the nearest point projection P from X onto K is nonexpansive. Then,

d ( x n + 1 , x ) = d ( P ( ( 1 - α n ) x n α n T P [ ( 1 - β n ) x n β n T x n ] ) , P x ) d ( ( 1 - α n ) x n α n T P [ ( 1 - β n ) x n β n T x n ] , x ) = ( 1 - α n ) d ( x n , x ) + α n d ( T P [ ( 1 - β n ) x n β n T x n ] , x ) .

But by Condition (E), for some μ ≥ 1, we have

( 1 - α n ) d ( x n , x ) + α n d ( T P [ ( 1 - β n ) x n β n T x n ] , x ) ( 1 - α n ) d ( x n , x ) + α n ( μ d ( T x , x ) + d ( P [ ( 1 - β n ) x n β n T x n ] , x ) ) ( 1 - α n ) d ( x n , x ) + α n [ ( 1 - β n ) d ( x n , x ) + β n d ( x n , x ) ] = d ( x n , x ) .

Consequently, d(x n +1, x) ≤ d(x n , x). Then d(x n , x) ≤ d(x1, x) for all n ≥ 1. This implies { d ( x n , x ) } n = 1 is bounded and decreasing. Hence, lim n →∞ d(x n , x) exists. □

Theorem 2.3. Let K be a nonempty closed convex subset of a complete CAT(0) space X, and T : KX be a nonself mapping, satisfying Condition (E) with F(T) ≠ . Let {α n } and {β n } be sequences in [ε, 1 - ε] for some ε (0, 1). Starting from arbitrary x1 K, define the sequence {x n } by x n +1 = P((1 - α n )x n α n TP [(1 - β n )x n β n Tx n ]), n ≥ 1. Then lim n →∞ d(x n , Tx n ) = 0.

Proof. Let x F(T). By Theorem 2.2, lim n →∞ d(x n , x) exists. Set

lim n d ( x n , x ) = r .

If r = 0, by the Condition (E), for some μ ≥ 1,

d ( x n , T x n ) d ( x , x n ) + d ( x , T x n ) d ( x , x n ) + μ d ( x , T x ) + d ( x , x n ) .

Therefore lim n →∞ d(x n , Tx n ) = 0.

If r > 0, set y n = P [(1 - β n )x n β n Tx n ]. By part (4) of Lemma 1.3,

d ( y n , x ) 2 = d ( P [ ( 1 - β n ) x n β n T x n ] , P x ) 2 d ( [ ( 1 - β n ) x n β n T x n ] , x ) 2 ( 1 - β n ) d ( x n , x ) 2 + β n d ( T x n , x ) 2 - β n ( 1 - β n ) d ( x n , T x n ) 2 ( 1 - β n ) d ( x n , x ) 2 + β n d ( T x n , x ) 2 .
(2.3)

Using Condition (E), for some μ ≥ 1,

( 1 - β n ) d ( x n , x ) 2 + β n d ( T x n , x ) 2 ( 1 - β n ) d ( x n , x ) 2 + β n ( μ d ( T x , x ) + d ( x n , x ) ) 2 = d ( x n , x ) 2 .
(2.4)

Therefore by inequities (2.3) and (2.4), one can get

d ( y n , x ) d ( x n , x ) .
(2.5)

Part (4) of Lemma 1.3, shows

d ( x n + 1 , x ) 2 = d ( P [ ( 1 - α n ) x n α n T y n ] , P x ) 2 d ( ( 1 - α n ) x n α n T y n , x ) 2 ( 1 - α n ) d ( x n , x ) 2 + α n d ( T y n , x ) 2 - α n ( 1 - α n ) d ( x n , T y n ) 2 ( 1 - α n ) d ( x n , x ) 2 + α n ( μ d ( T x , x ) + d ( y n , x ) ) 2 - α n ( 1 - α n ) d ( x n , T y n ) 2 = ( 1 - α n ) d ( x n , x ) 2 + α n d ( y n , x ) 2 - α n ( 1 - α n ) d ( x n , T y n ) 2 ( 1 - α n ) d ( x n , x ) 2 + α n d ( x n , x ) 2 - α n ( 1 - α n ) d ( x n , T y n ) 2 = d ( x n , x ) 2 - α n ( 1 - α n ) d ( x n , T y n ) 2 .

Therefore

d ( x n + 1 , x ) 2 d ( x n , x ) 2 - W ( α n ) d ( x n , T y n ) 2 ,

where W(α) = α(1 - α). Since α [ε, 1 - ε], W(α n ) ≥ ε2.

Therefore

ε 2 n = 1 d ( x n , T y n ) 2 d ( x 1 , x ) 2 < .

This implies lim n →∞ d(x n , Ty n ) = 0.

By Condition (E), for some μ ≥ 1, we have

d ( x n , x ) d ( x n , T y n ) + d ( T y n , x ) d ( x n , T y n ) + μ d ( T x , x ) + d ( y n , x ) = d ( x n , T y n ) + d ( y n , x ) .

Hence

r lim inf n  d ( y n , x ) .

On the other hand, from (2.5),

lim sup n  d ( y n , x ) r .

This implies

lim n d ( y n , x ) = r .

Thus (2.5) shows

lim n d ( ( 1 β n ) x n β n T x n ] , x ) = r .

Since T satisfies Condition (E), we have

d ( T x n , x ) μ d ( T x , x ) + d ( x n , x ) = d ( x n , x )

Thus

lim sup n  d ( T x n , x ) r .

Now, by [[1], Lemma 2.9], lim n →∞ d(x n , Tx n ) = 0. □

Theorem 2.4. Let K be a nonempty closed convex subset of a complete CAT(0) space X, and T : KX be a nonself mapping, satisfying Condition (E) with F(T) ≠ . Assume {α n } and {β n } are sequences in [ε, 1 - ε] for some ε (0, 1). Starting from arbitrary x1 K, define the sequence {x n } by x n +1 = P((1 - α n )x n α n TP[(1 - β n )x n β n Tx n ]), n ≥ 1. Then {x n } is Δ-convergent to some point x in F(T).

Proof. By Theorem 2.3, lim n →∞ d(x n , Tx n ) = 0. The proof of Theorem 2.2 shows {d(x n , v)} is bounded and decreasing for each v F (T), and so it is convergent. By Lemma 2.1, ω w (x n ) consists exactly one point which is a fixed point of T. Consequently, the sequence {x n } is Δ-convergent to some point x in F(T). □

The following definition is recalled from [8].

Definition 2.5. A mapping T : KX is said to satisfy Condition I, if there exists a nondecreasing function f : [0, ∞) → [0, ∞) with f(0) = 0 and f(r) > 0 for all r > 0 such that

d ( x , T x ) f ( d ( x , F ( T ) ) ) ,

where x K.

With respect to the above definition, we have the following theorem [[1], Theorem 3.4].

Theorem 2.6. Let K be a nonempty closed convex subset of a complete CAT(0) space X, and T : KX be a nonself mapping, satisfying condition (E) with F(T) ≠ . Assume {α n } and {β n } are sequences in [ε, 1 - ε] for some ε (0, 1). Starting from arbitrary x1 K, define the sequence {x n } by x n +1 = P((1 - α n )x n α n TP [(1 - β n )x n β n Tx n ]), n ≥ 1. If T satisfies condition I, then {x n } converges strongly to a fixed point of T.

We state another strong convergence theorem [[1], Theorem 3.5] as follows:

Theorem 2.7. Let K be a nonempty compact convex subset of a complete CAT(0) space X, and T : KX be a nonself mapping, satisfying condition (E) with F(T) ≠ . Assume {α n } and {β n } are sequences in [ε, 1 - ε] for some ε (0, 1). Starting from arbitrary x1 K, define the sequence {x n } by x n +1 = P((1 - α n )x n α n TP[(1 - β n )x n β n Tx n ]),n ≥ 1. Then, {x n } converges strongly to a fixed point of T.

Another result in [1] is to obtain the Δ-convergence of a defined sequence, to a common fixed point of two nonexpansive self-mappings. According to the present setting, we can state the following result.

Theorem 2.8. Let K be a nonempty closed convex subset of a complete CAT(0) space X, and S, T : KX be two nonself mappings, satisfying Condition (E) with F(S) ∩ F(T) ≠ . Assume {α n } and {β n } are sequences in [ε, 1 - ε] for some ε (0, 1). Starting from arbitrary x1 K, define the sequence {x n } by x n +1 = (1 - α n )x n α n S[(1 - β n )x n β n Tx n ], n ≥ 1. Then {x n } is Δ-convergent to a common fixed point of S and T.

References

  1. Laowang W, Panyanak B: Approximating fixed points of nonexpansive nonself mappings in CAT(0) spaces. Fixed Point Theory Appl 2010, 367274: 11.

    MathSciNet  Google Scholar 

  2. Garcia-Falset J, Liorens-Fuster E, Suzuki T: Fixed point theory for a class of generalized nonexpansive mapping. J Math Anal Appl 2011, 375: 185–195. 10.1016/j.jmaa.2010.08.069

    Article  MathSciNet  Google Scholar 

  3. Bridson M, Haefliger A: Metric Spaces of Non-Positive Curvature, Fundamental Principles of Mathematical Sciences. Volume 319. Springer, Berlin; 1999.

    Chapter  Google Scholar 

  4. Dhompongsa S, Panyanak B: On Δ-convergence theorems in CAT(0) spaces. Comput Math Appl 2008, 56: 2572–2579. 10.1016/j.camwa.2008.05.036

    Article  MathSciNet  Google Scholar 

  5. Dhompongsa S, Kirk WA, Sims B: Fixed point of uniformly lipschitzian mappings. Nonlinear Anal 2006, 65: 762–772. 10.1016/j.na.2005.09.044

    Article  MathSciNet  Google Scholar 

  6. Kirk W, Panyanak B: A concept of convergence in geodesic spaces. Nonlinear Anal 2008, 68: 3689–3696. 10.1016/j.na.2007.04.011

    Article  MathSciNet  Google Scholar 

  7. Dhompongsa S, Kirk WA, Panyanak B: Nonexpansive set-valued mappings in metric and Banach spaces. J Nonlinear Convex Anal 2007, 8: 35–45.

    MathSciNet  Google Scholar 

  8. Senter HF, Dotson WG: Approximating fixed points of nonexpansive mappings. Proc Am Math Soc 1974, 44: 375–380. 10.1090/S0002-9939-1974-0346608-8

    Article  MathSciNet  Google Scholar 

Download references

Author information

Authors and Affiliations

Authors

Corresponding author

Correspondence to Saeed Shabani.

Additional information

Competing interests

The authors declare that they have no competing interests.

Authors' contributions

The authors have contributed in obtaining the new results presented in this article. All authors read and approved the final manuscript.

Rights and permissions

Open Access This article is distributed under the terms of the Creative Commons Attribution 2.0 International License (https://creativecommons.org/licenses/by/2.0), which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

Reprints and permissions

About this article

Cite this article

Razani, A., Shabani, S. Approximating fixed points for nonself mappings in CAT(0) spaces. Fixed Point Theory Appl 2011, 65 (2011). https://doi.org/10.1186/1687-1812-2011-65

Download citation

  • Received:

  • Accepted:

  • Published:

  • DOI: https://doi.org/10.1186/1687-1812-2011-65

Keywords