1. Introduction and Preliminaries
Let
M a nonempty subset of a metric space
Y. A subset
M is said to be proximinal if for each
, there exists an element
such that
where
is the distance from the point
v to the set
M. Denote the family of nonempty closed bounded subsets of
Y by
, the family of nonempty bounded proximinal [
1] subsets of
Y by
, and the family of nonempty compact subsets of
Y by
. Define the Hausdroff distance,
, on
by
The mapping H is called Pompeiu-Hausdorff metric induced by d.
A multivalued mapping is said to have a fixed point if there exists an element such that . The set denotes the set of all fixed points of . This is said to be a strict fixed point (or end point of ) if . Denote the set of strict fixed points (end points) of by . Clearly, is contained in . A multivalued mapping ,
- (1)
- (2)
is quasi-nonexpansive if
is nonempty and for any
A multivalued mapping
satisfies the Condition (C) if for any
A geodesic path is a map,
, joining two points
v and
y in a metric space
Y from a closed interval
to
Y such that
,
and
for all
. In particular,
. The image of
is called the geodesic or metric segment joining
v and
y. If the image is unique then it is indicated by
. The space
is called the geodesic space if any two points of
Y are connected by a geodesic whereas
Y is known to be uniquely geodesic if for each
there is exactly one metric segment which joins
v and
y [
2]. A subset
M of
Y containing every geodesic segment joining any two of its points is said to be convex. A geodesic triangle
in a geodesic metric space
consists of three points in
Y where
and
c are the vertices of Δ and a geodesic segments between them are the sides of Δ. A comparison triangle for
in
is a triangle
=
in the Euclidean plane
such that
,
and
[
3,
4].
Suppose that
is a geodesic triangle in
E and
is a comparison triangle for
. In a geodesic space, if all geodesic triangles of appropriate size satisfy the following comparison axiom called CAT(0) inequality:
then such a geodesic space is said to be a CAT(0) space.
Thus, a CAT(0) space is a particular metric space which does not possess any linear structure. Complete CAT(0) spaces generalize Hilbert spaces to the nonlinear framework. Some examples of CAT(0) spaces are pre-Hilbert space [
5], Hadamard manifold, R-trees [
6], hyperbolic metric spaces [
7] and Euclidean building [
8]. We refer the readers interested in detailed study of such spaces to [
2] and references therein.
A study of sufficient conditions for the existence of fixed points of multivalued contraction and nonexpansive mappings employing the Hausdroff metric was first carried out by Markin [
9] which was later extended by Nadler [
10]. A topological structure which relies on the properties of distance function defined on the domain and induced distance function on a codomain of multivalued contraction mapping plays vital role in proving the existence of fixed points of such mappings. Fixed point theory for multivalued contraction mappings initiated by Nadler [
10] has been extended using different generalized distance structures such as
b-metric, rectangular metric, partial metric, and dual metric [
11,
12,
13,
14].
Existence of fixed points of single valued and multivalued nonexpansive mappings however requires a rich geometric structure in addition to the topological structure of underlying domain see [
15,
16,
17] and references therein. Kirk [
6] instituted the study of fixed points in CAT(0) spaces. He established the existence of a fixed point for a nonexpansive single-valued mapping on bounded closed convex subset of a complete CAT(0) space. In fact, CAT(0) spaces constitute a suitable framework to obtain fixed points of nonexpansive mappings and its various generalizations [
18,
19,
20]. Fixed point results of multivalued mappings in CAT(0) spaces have various applications in differential equations, optimization, control theory, graph theory, computer science, robotics [
21,
22,
23,
24,
25].
The conditions for a mapping to be nonexpansive must hold for all points in the domain of the mappings. Therefore, the need for relaxed conditions arose which do not affect the outcome of the fixed point results. In order to address this problem, Suzuki [
26] introduced a new class of mappings, formally known as the class of mapping satisfying the Condition (C) in the context of uniform convex Banach spaces. The class of nonexpansive mappings is the proper subclass of the class of mapping satisfying the Condition (C). This class of mappings need not be continuous. Akbar and Eslamian [
27] extended this class of single valued mappings to the class of multivalued mappings and obtained fixed points of such mappings in the framework of Banach spaces. These results were then obtained in the setup of complete CAT(0) spaces [
28,
29].
The class of
-nonexpansive mappings in Banach spaces were suggested by Aoyama and Kohshaka [
30] who also explored fixed points of such mappings. Recently, Iqbal et al. [
31] proposed the concept of multivalued generalized
-nonexpansive mappings and obtained existence and approximation results in the setting of a Banach space. In 2018, Harandi et al. [
32] presented the class of
-nonexpansive mappings which is properly larger than the class of
-nonexpansive mapping for a fixed point sequence. Many researchers have presented and studied iterative techniques for approximating the fixed points and established convergence results in CAT(0) spaces for the general class of multivalued mappings including Mann, Ishikawa and
S-iterative schemes [
20,
25,
33,
34].
Motivated by [
26,
32], we present the class of monotone multivalued generalized
-nonexpansive multivalued mappings and establish the existence of fixed points for such mappings in the setting of an ordered CAT(0) space. We will approximate the fixed points of the proposed mapping using the
S-iterative scheme. Under suitable conditions Δ-convergence and strong convergence results will be established. An application of the convergence results is also presented. Now, we recall some important definitions and results needed in the sequel. We assume that
is a CAT(0) space.
Lemma 1. [35] For and , there exists a unique such that We denote the unique point in the above Lemma by .
Lemma 2. [35] For and we have the following inequalities: - (i)
- (ii)
Let M be a bounded subset Y and a bounded sequence in Y then:
- (i)
Define a mapping
by
For each
the value
is called asymptotic radius of
at
v [
1].
- (ii)
The asymptotic radius of
[
1] relative to
M is the number
r given by
Denote asymptotic radius of relative to M by
- (iii)
The asymptotic center of
relative to
M [
1] is the set
of points in
Y for which
that is,
Definition 1. [35] A sequence in a CAT(0) space Y is Δ-convergent to if v is the unique asymptotic center of every subsequence of . In such situation, we write and v is the Δ-limit of . Given such that -converges to v if we take such that , then by the uniqueness of the asymptotic center, we have .
Lemma 3. [35] In a complete CAT(0) space, every bounded sequence admits a Δ-convergent subsequence. Lemma 4. [35] If is a bounded sequence in a closed convex subset M of a complete CAT(0) space, then the asymptotic center of is in M. Lemma 5. [36] Let p be an element of a complete CAT(0) space Y. Assuming is a sequence in for some and that , are two sequences in Y satisfying the following for some : Let M be a nonempty convex subset of Y and with . Then,
- (1)
the Mann iterative process is defined by
,
where
satisfies
and
,
- (2)
the Ishikawa iterative process is defined as
with
and
satisfying
and
, and
.
The a modification of
S-iterative scheme [
37] in the frame work of CAT(0) spaces is given as follows:
Let
Define
with
and
satisfying
and
.
Consider a complete CAT(0) space,
Y, endowed with partial order ⪯. Two elements
are comparable if
or
. For any
define
Let
. An order interval
is the set given by
Let M be a nonempty closed convex subset of . A mapping is called monotone if for any there exists such that whenever for all . Moreover, the mapping is:
- (i)
monotone nonexpansive if
is monotone and such that for any comparable
,
- (ii)
monotone quasi-nonexpansive if
is monotone with
and
such that whenever
are comparable,
holds.
Throughout this paper, we consider the order intervals to be closed convex subsets of an ordered CAT(0) space ().
2. Multivalued Generalized -Nonexpansive Mapping
In this section, we introduce a class of multivalued generalized (,)-nonexpansive mapping in the setting of CAT(0) spaces which is a wider class of nonexpansive type mapping which properly contains nonexpansive, mappings satisfying the Condition (C) and generalized -nonexpansive mappings. We also discuss some of its properties in CAT(0) space.
Definition 2. Let M be a nonempty subset of a CAT(0) space . A multivalued mapping satisfies the Condition () if there exists such that for any If a multivalued mapping satisfies the Condition () in a CAT(0) space then we say is the multivalued generalized (,)-nonexpansive mapping.
Let M be a nonempty closed subset of an ordered CAT(0) space (). A mapping is said to be a monotone multivalued generalized nonexpansive mapping if
- (a)
is monotone,
- (b)
satisfies (
9) for all
and either
or
.
Remark 1. - (1)
Multivalued generalized (α,β)-nonexpansive mappings extend and generalize the class of mappings introduced by [31]. Indeed, if then the mapping is reduced to multivalued generalized α-nonexpansive mapping. - (2)
Multivalued generalized (α,β)-nonexpansive mappings contain the class of mappings satisfying the Condition (C). Clearly, substituting we get our desired mapping.
- (3)
Every nonexpansive mapping is generalized -nonexpansive mapping.
We present an example of a multivalued generalized ()-nonexpansive mappings in an ordered CAT(0) space which is neither nonexpansive or satisfies the Condition (C).
Example 1. Consider an Example 18 of [38] where Define an order on Y as follows: for and , if and only if and . Thus is an ordered Hyperbolic space which is an example of an ordered CAT(0) space.
Let and be defined by - (1)
The mapping does not satisfy the Condition (C) on M and therefore is not nonexpansive. Indeed, for and we haveandThus, . Note thatIf then we haveAlso,If then we haveThusimplies that . - (2)
Now, we show that is multivalued generalized ()-nonexpansive mapping, where and . We consider the following cases.
CASE-IIf and Observe thatandFor and , we obtain that CASE-IIIf thenNow gives thatSimilarly,Now givesThusAlso, For and , we obtain that Hence is -nonexpansive multivalued mapping.
Proposition 1. Let be a multivalued mapping then the following hold.
- (1)
If satisfies the Condition (C) as defined in then satisfies the Condition .
- (2)
If satisfies the Condition with , then is quasi-nonexpansive.
Proof. - (1)
If satisfies the Condition (C) then it trivial that satisfies the Condition for
- (2)
Let
then,
As
satisfies the Condition (
), there exists
such that
holds. Then,
implies
Since
, it follows that
. Hence
is quasi-nonexpansive multivalued mapping.
□
Remark 2. The converse of (i) in the Proposition 1 is not true in general. Indeed if a multivalued mapping satisfies the Condition (), it does not necessarily imply that the mapping satisfies the Condition (C).
Now, we characterize some properties of of multivalued mapping in CAT(0) space. For the following result sin this section, assume that M is a nonempty subset of a CAT(0) space Y and a multivalued mapping satisfying the Condition () for some ,
Theorem 1. If M is closed then is closed. Moreover, if M is convex and with then is convex.
Proof. Let
be a sequence in
such that
for some
Since
and
satisfies the Condition (
), there exists
such that
As , on taking the limit on both sides, we obtain that Therefore and hence is closed.
Let
. We need to show that every geodesic segment joining
v and
y lies in
. Let
with
for some
. Since
M is convex and
. Let
Then by Lemma 2 and
we have
Now by using Lemma 2, we have
This implies that , that is, . Hence is convex. □
Now, we present some results associated with the multivalued mapping satisfying the Condition ().
Proposition 2. For each and we have the following:
- (1)
- (2)
Either or
- (3)
Either or
Proof. - (1)
As,
we have
which implies that
and hence
we have
which implies that
and hence
- (2)
Suppose that
and
From (i), we get
Thus,
implies that
Also, we have
Thus,
Combining the inequalities
and
we obtain
a contradiction. Hence (ii) holds.
- (3)
The condition (iii) directly follow from the condition (ii).
□
Proposition 3. Let M be closed and convex then holds for all
Proof. Let
then there exists
such that
. By using Proposition 2, we have
Now, by proposition 3.2 (iii), we obtain
or
If inequality
holds, then we get
If
holds, then we have
Hence our desired inequality is proved in both cases. □
3. Convergence Results
In this section, we present some existence result of fixed point of a multivalued generalized nonexpansive multivalued mappings in the frame work of ordered CAT(0) space .
Lemma 6. Let M be a nonempty, closed and convex subset of a complete ordered CAT(0) space () and be a monotone multivalued generalized nonexpansive mapping. Then for all and such that either or .
Lemma 7. Let M and be as in Lemma 6. Fix such that or (). If is defined by then we have:
- (1)
or for any and .
- (2)
provided that -converges to a point
Proof. - (1)
If
then by convexity of order interval
and
we have,
Thus, there exists
such that
As,
is monotone there exists
such that
. Again by convexity of order interval
and
we have
Thus,
From
and
we have
which implies that
Hence the statement is true for
Assuming the statement is true for
n, that is, for
we have
Now, we show
is true for
By the convexity of order interval
and
we have
Thus, we have
By monotonicity of
there exists
such that
. Again by convexity of order interval
and
we have
which implies that
It follows from
and
that
and therefore
From
we have
By the convexity of order interval
and
we obtain that
and hence
The monotonicity of
yields that there exists
such that
Now the convexity of order interval
and
gives that
which implies that
So, from
and
we obtain
Hence, (
21) is true for all
- (2)
Suppose that x is Δ-limit of From (i), we have for all Since the order interval is closed and convex and the sequence is is increasing we deduce that for a fixed , if not, that is, if then a subsequence of may be constructed by leaving the first terms of the sequence and then the asymptotic center of would not be x, which contradicts that x is the Δ-limit of the sequence . This completes the proof.
□
Lemma 8. Let M and be as in Lemma 6 and be a sequence defined by where such that . Suppose that there exists such that , where . Also, assume that either and p are comparable then
- (1)
exists for all
- (2)
where
Proof. - (1)
Let
. If
then Lemma 7 and the transitivity of the order imply
. Applying mathematical induction, we obtain
for all
. On the other hand, assume that
. Since there exists
we have
as
. Further, (
21) yields
Again, there exists
which implies that
as
. Finally, we have
Continuing in this manner, we obtain
,
and
. Therefore, in both cases
and
p are comparable. Now, from (
21) we have
As
,
Also,
and
From
and
we obtain that
Now using
and
in
, we have
Thus, for all
that is,
is decreasing and consequently,
exists.
- (2)
We now prove that
From (1), we know that for each
,
exists. For some
let
From
and on taking the limit superior as
, we have
that is,
Similarly, from
and on taking limit superior as
, we get
and hence
Now, by applying Lemma 4, we get
From
we have
On taking limit superior as
we obtain that
Note that
Combining
and
, we have
Also,
By taking limit inferior as
on both sides, we have
Employing
and
, yields
From
,
,
and applying Lemma 5, we get
□
Now, we present the existence result associated with multivalued generalized (,)-nonexpansive mapping.
Theorem 2. Let M and be as in Lemma 6. Fix such that . If is a sequence given by then the condition and are satisfied then .
Proof. Since , Lemma 7 implies that for all .
Utilizing the
nonexpansiveness of
and
we have
. Further,
Thus, from the uniqueness of the asymptotic center we have where . □
Here we discuss the convergence result regarding to our proposed mapping.
Theorem 3. Let M and be as in Lemma 6 with . Fix . If is a sequence defined by then Δ-converges to an element of .
Proof. It follows from Lemma 7 that exists for each . So, is bounded and , where .
Denote where the union is taken over all subsequence of . We now prove that is Δ-convergent to a fixed point of . First we show and therefore assert that is singleton. To show Let So there exists a subsequence of such that . As a consequence of Lemma 3 and Lemma 4, there exists a subsequence of so that and .
As
and
is a subsequence of
we have that
. By Theorem 2, we have
and hence
. Now we assert that
. Indeed,
leads to a contradiction as
and hence,
. To show that
is singleton set, let
be a subsequence of
. From Lemma 3 and 4, there exists a subsequence
of
such that
. Let
and
. As it is already proved that
thus it is sufficient to demonstrate that
.
If then by Lemma 8, converges.
By uniqueness of asymptotic centers, we have
a contradiction that
, consequently
Hence the conclusion follows. □
In the following, we ascertain the strong convergence result which extends Theorem (1) in [
39] for multivalued generalized
-nonexpansive mapping in the setup of ordered CAT(0) space.
Theorem 4. Let M and be as in Lemma 6 such that . Fix such that . If is a sequence described as with , then converges to a fixed point of if and only if
Proof. If the sequence converges to a fixed point , then it is obvious that .
Conversely, suppose that . From Lemma 8, we have for any . So, and hence forms a decreasing sequence that is bounded below by zero which implies that exists.
To show is a Cauchy sequence in M, choose an arbitrary number, say, .
As
we have
. Thus, there exists
such that for all
, we have
Thus, there must exists
such that
. Now for
, we have
Since
is closed,
is a Cauchy sequence and consequently, converges in
M. Let
Note that
On taking limit as we have . This completes the proof. □
Remark 3. - (1)
For , our theorems extend the results in [27] to CAT(0) spaces. - (2)
For , these results extend the results in [31,40] to CAT(0) spaces. - (3)
Our results extend and improve results in [20] for monotone nonexpansive mapping in a CAT(0) spaces.