Rectangular b-Metric Spaces and Contraction Principle Reny George∗,1 , S.Radenovic2 , K.P Reshma3 and S.Shukla4 1 Present Affiliation : Department of Mathematics College of Science, Salmanbin Abdulaziz University Al-Kharj, Kingdom of Saudi Arabia Permanent Affiliation : Department of Mathematics and Computer Science St. Thomas College, Bhilai Chhattisgarh, India 2 Faculty of Mechanical Engineering, University of Belgrade, Kraljice Marije 16, 11120 Beograd , Serbia 3 Department of Mathematics, Government VYT PG Autonomous College, Durg, Chhattisgarh, India 4 Department of Applied Mathematics S.V.I.T.S. Indore (M.P.), 453331 India Abstract The concept of rectangular b-metric space is introduced as a generalization of metric space and rectangular metric space. An analogue of Banach contraction principle and Kannan’s fixed point theorem is proved in this space. Our result generalises many known results in fixed point theory. Keywords : Fixed points, rectangular metric space, rectangular b-metric space Corresponding Author: Reny George E-mail: [email protected] 2000 Mathematics Subject Classification47H10 1 Introduction Since the introduction of Banach contraction principle in 1922, because of its wide applications, the study of existence and uniqueness of fixed points and common fixed points has become a subject of great interest. Many authors proved the Banach contraction Principle in various generalised metric spaces. In the sequel Branciari [5] introduced the concept of rectangular metric space (RMS) by replacing the sum of the right hand side of the triangular inequality in metric space by a three-term expression and 2 proved an analog of the Banach Contraction Principle in such spaces. Since then many fixed point theorems for various contractions on rectangular metric spaces appeared (see [2, 3, 9, 14, 15, 16, 17, 18, 20]). On the other hand, in [4] Bakhtin introduced b-metric spaces as a generalization of metric spaces. He proved the contraction mapping principle in b-metric spaces that generalized the famous Banach contraction principle in metric spaces. Since then, several papers have dealt with fixed point theory or the variational principle for single-valued and multi-valued operators in b-metric spaces (see [6, 7, 8, 10, 11, 12, 13] and the references therein). In this paper we have introduced the concept of rectangular b-metric space, which is not necessarily Hausdorff and which generalizes the concepts of metric space, rectangular metric space and b-metric space. Note that spaces with non Hausdorff topology plays an importnat role in Tarskian approach to programming language semantics used in computer science (For some details see [21]). An analog of the Banach contraction principle as well as the Kannan type fixed point theorem in rectangular b-metric spaces are also proved. Some examples are included which show that our generalizations are genuine. 2 Preliminaries Definition 2.1 [4] Let X be a nonempty set and the mapping d : X × X → [0, ∞) satisfies: (bM1) d(x, y) = 0 if and only if x = y for all x, y ∈ X; (bM2) d(x, y) = d(y, x) for all x, y ∈ X; (bM3) there exist a real number s ≥ 1 such that d(x, y) ≤ s[d(x, z) + d(z, y) for all x, y, z ∈ X. Then d is called a b-metric on X and (X, d) is called a b-metric space (in short bMS) with coefficient s. Definition 2.2 [5] Let X be a nonempty set and the mapping d : X × X → [0, ∞) satisfies: (RM1) d(x, y) = 0 if and only if x = y for all x, y ∈ X; (RM2) d(x, y) = d(y, x) for all x, y ∈ X; 3 (RM3) d(x, y) ≤ d(x, u) + d(u, v) + d(v, y) for all x, y ∈ X and all distinct points u, v ∈ X \ {x, y}. Then d is called a rectangular metric on X and (X, d) is called a rectangular metric space (in short RMS). Now we will define a rectangular b-metric space. Definition 2.3 Let X be a nonempty set and the mapping d : X × X → [0, ∞) satisfies: (RbM1) d(x, y) = 0 if and only if x = y; (RbM2) d(x, y) = d(y, x) for all x, y ∈ X; (RbM3) there exists a real number s ≥ 1 such that d(x, y) ≤ s[d(x, u) + d(u, v) + d(v, y)] for all x, y ∈ X and all distinct points u, v ∈ X \ {x, y}. Then d is called a rectangular b-metric on X and (X, d) is called a rectangular b-metric space (in short RbMS) with coefficient s. Note that every metric space is a rectangular metric space and every rectangular metric space is a rectangular b-metric space (with coefficient s = 1). However the converse of the above implication is not necessarily true. Example 2.4 Let X = N, define d : 0, 4α, d(x, y) = α, X × X → X by if x = y; if x, y ∈ {1, 2} and x 6= y; if x or y 6∈ {1, 2} and x 6= y, where α > 0 is a constant. Then (X, d) is a rectangular b-metric space with coefficient s = 43 > 1, but (X, d) is not a rectangular metric space, as d(1, 2) = 4α > 3α = d(1, 3) + d(3, 4) + d(4, 2). Example 2.5 Let X = N, define x, y ∈ X and 0, 10α, α, d(x, y) = 2α, 3α, d : X × X → X such that d(x, y) = d(y, x) for all if if if if if x = y; x = 1, y = 2; x ∈ {1, 2} and y ∈ {3}; x ∈ {1, 2, 3} and y ∈ {4}; x or y 6∈ {1, 2, 3, 4} and x 6= y, where α > 0 is a constant. Then (X, d) is a rectangular b-metric space with coefficient s = 2 > 1, but (X, d) is not a rectangular metric space, as d(1, 2) = 10α > 5α = d(1, 3) + d(3, 4) + d(4, 2). 4 Note that every b-metric space with coefficient s is a RbM S with coefficient s2 but the converse is not necessarily true. (See Example 2.7 below). For any x ∈ X we define the open ball with centre x and radius r > 0 by Br (x) = {y ∈ X : d(x, y) < r} The open balls in RbM S are not necessarily open(See Example 2.7 below). Let U be the collection of all subsets A of X satisfying the condition that for each x ∈ A there exist r > 0 such that Br (x) ⊆ A. Then U defines a topology for the RbM S (X, d), which is not necessarily Hausdorff(See Example 2.7 below). Now we define convergence and Cauchy sequence in rectangular b-metric space and completeness of rectangular b-metric space. Definition 2.6 Let (X, d) be a rectangular b-metric space, {xn } be a sequence in X and x ∈ X. Then (a) The sequence {xn } is said to be convergent in (X, d) and converges to x, if for every ε > 0 there exists n0 ∈ N such that d(xn , x) < ε for all n > n0 and this fact is represented by lim xn = x or xn → x as n → ∞. n→∞ (b) The sequence {xn } is said to be Cauchy sequence in (X, d) if for every ε > 0 there exists n0 ∈ N such that d(xn , xn+p ) < ε for all n > n0 , p > 0 or equivalently, if lim d(xn , xn+p ) = 0 for all p > 0. n→∞ (c) (X, d) is said to be a complete rectangular b-metric space if every Cauchy sequence in X converges to some x ∈ X. Note that, limit of a sequence in a RbM S is not necessarily unique and also every RbM S-convergent sequence in a RbM S is not necessarily RbM S-Cauchy. The following example illustrates this fact. Example 2.7 Let X = A ∪ B, where A = { n1 : n ∈ N} and B is the set of all positive integers. Define d : X × X → [0, ∞) such that d(x, y) = d(y, x) for all x, y ∈ X and 0, if x = y; 2α, if x, y ∈ A; d(x, y) = α , if x ∈ A and y ∈ {2, 3}; 2n α, otherwise, where α > 0 is a constant. Then (X, d) is a rectangular b-metric space with coefficient s = 2 > 1. However we have the following : 5 1) (X, d) is not a rectangular metric space, as d( 12 , 31 ) = 2α > 17 = d( 12 , 4) + d(4, 3) + 12 1 d(3, 3 ) and hence not a metric space. 2) There does not exist s > 0 satisfying d(x, y) ≤ s[d(x, z) + d(z, y)] for all x, y, z ∈ X, and so (X, d) is not a b-metric space. 3) B α2 ( 12 ) = {2, 3, 12 } and there does not exist any open ball with centre 2 and contained in B α2 ( 21 ). So B α2 ( 12 ) is not an open set. 4) The sequence { n1 } converges to 2 and 3 in RbM S and so limit is not unique. Also 1 d( n1 , n+p ) = 2α 6→ 0 as n → ∞, therefore { n1 } is not a Cauchy sequence in RbM S. T 5) There does not exist any r1 , r2 > 0 such that Br1 (2) Br2 (3) = φ and so (X, d) is not Hausdorff. 3 Main Results Following theorem is the analog to Banach contraction principle in rectangular b-metric space. Theorem 3.1 Let (X, d) be a complete rectangular b-metric space with coefficient s > 1 and T : X → X be a mapping satisfying: d(T x, T y) ≤ λd(x, y) (3.1) for all x, y ∈ X, where λ ∈ [0, 1s ]. Then T has a unique fixed point. Proof Let x0 ∈ X be arbitrary. We define a sequence {xn } by xn+1 = T xn for all n ≥ 0. We shall show that {xn } is Cauchy sequence. If xn = xn+1 then xn is fixed point of T. So, suppose that xn 6= xn+1 for all n ≥ 0. Setting d(xn , xn+1 ) = dn , it follows from (3.1) that d(xn , xn+1 ) = d(T xn−1 , T xn ) ≤ λd(xn−1 , xn ) dn ≤ λdn−1 . Repeating this process we obtain dn ≤ λn d0 . (3.2) Also, we can assume that x0 is not a periodic point of T. Indeed, if x0 = xn then using (3.2), for any n ≥ 2, we have d(x0 , T x0 ) d(x0 , x1 ) d0 d0 = = = ≤ d(xn , T xn ) d(xn , xn+1 ) dn λn d0 , 6 a contradiction. Therefore, we must have d0 = 0, i.e., x0 = x1 , and so x0 is a fixed point of T. Thus we assume that xn 6= xm for all distinct n, m ∈ N. Again setting d(xn , xn+2 ) = d∗n and using (3.1) for any n ∈ N, we obtain d(xn , xn+2 ) = d(T xn−1 , T xn+1 ) ≤ λd(xn−1 , xn+1 ) d∗n ≤ λd∗n−1 Repeating this process we obtain d(xn , xn+2 ) ≤ λn d∗0 . (3.3) For the sequence {xn } we consider d(xn , xn+p ) in two cases. If p is odd say 2m + 1 then using (3.2) we obtain d(xn , xn+2m+1 ) ≤ s[d(xn , xn+1 ) + d(xn+1 , xn+2 ) + d(xn+2 , xn+2m+1 )] ≤ s[dn + dn+1 ] + s2 [d(xn+2 , xn+3 ) + d(xn+3 , xn+4 ) +d(xn+4 , xn+2m+1 )] ≤ s[dn + dn+1 ] + s2 [dn+2 + dn+3 ] + s3 [dn+4 + dn+5 ] + · · · + sm dn+2m ≤ s[λn d0 + λn+1 d0 ] + s2 [λn+2 d0 + λn+3 d0 ] + s3 [λn+4 d0 + λn+5 d0 ] + · · · + sm λn+2m d0 ≤ sλn [1 + sλ2 + s2 λ4 + · · · ]d0 + sλn+1 [1 + sλ2 + s2 λ4 + · · · ]d0 1+λ = sλn d0 (note that sλ2 < 1). 1 − sλ2 Therefore, 1+λ d(xn , xn+2m+1 ) ≤ sλn d0 . (3.4) 1 − sλ2 If p is even say 2m then using (3.2) and (3.3) we obtain d(xn , xn+2m ) ≤ s[d(xn , xn+1 ) + d(xn+1 , xn+2 ) + d(xn+2 , xn+2m )] ≤ s[dn + dn+1 ] + s2 [d(xn+2 , xn+3 ) + d(xn+3 , xn+4 ) +d(xn+4 , xn+2m )] ≤ s[dn + dn+1 ] + s2 [dn+2 + dn+3 ] + s3 [dn+4 + dn+5 ] + · · · + sm−1 [d2m−4 + d2m−3 ] + sm−1 d(xn+2m−2 , xn+2m ) ≤ s[λn d0 + λn+1 d0 ] + s2 [λn+2 d0 + λn+3 d0 ] + s3 [λn+4 d0 + λn+5 d0 ] + · · · + sm−1 [λ2m−4 d0 + λ2m−3 d0 ] + sm−1 λn+2m−2 d∗0 ≤ sλn [1 + sλ2 + s2 λ4 + · · · ]d0 + sλn+1 [1 + sλ2 + s2 λ4 + · · · ]d0 +sm−1 λn+2m−2 d∗0 , 7 i.e. 1+λ sλn d0 + sm−1 λn+2m−2 d∗0 1 − sλ2 1+λ sλn d0 + (sλ)2m λn−2 d∗0 (as 1 < s) < 1 − sλ2 1+λ sλn d0 + λn−2 d∗0 (as λ ≤ 1s ). ≤ 2 1 − sλ d(xn , xn+2m ) ≤ Therefore d(xn , xn+2m ) ≤ 1+λ sλn d0 + βλn−2 d0 . 1 − sλ2 (3.5) It follows from (3.4) and (3.5) that lim d(xn , xn+p ) = 0 for all p > 0. n→∞ (3.6) Thus {xn } is a Cauchy sequence in X. By completeness of (X, d) there exists u ∈ X such that lim xn = u. (3.7) n→∞ We shall show that u is a fixed point of T. Again, for any n ∈ N we have d(u, T u) ≤ s[d(u, xn ) + d(xn , xn+1 ) + d(xn+1 , T u)] = s[d(u, xn ) + dn + d(T xn , T u)] ≤ s[d(u, xn ) + dn + λd(xn , u)]. Using (3.6) and (3.7) it follows from above inequality that d(u, T u) = 0, i.e., T u = u. Thus u is a fixed point of T. For uniqueness, let v be another fixed point of T. Then it follows from (3.1) that d(u, v) = d(T u, T v) ≤ λd(u, v) < d(u, v), a contradiction. Therefore, we must have d(u, v) = 0, i.e., u = v. Thus fixed point is unique. Example 3.2 Let X = A ∪ B, where A = { n1 : n ∈ {2, 3, 4, 5}} and B = [1, 2]. Define d : X × X → [0, ∞) such that d(x, y) = d(y, x) for all x, y ∈ X and 1 1 d( 2 , 3 ) = d( 14 , 51 ) = 0.03 1 1 d( 2 , 5 ) = d( 13 , 41 ) = 0.02 d( 1 , 1 ) = d( 15 , 31 ) = 0.6 2 4 d(x, y) = |x − y|2 otherwise Then (X, d) is a rectangular b-metric space with coefficient s = 4 > 1. But (X, d) is neither a metric space nor a rectangular metric space. Let T : X → X be defined as : 1 if x ∈ A 4 Tx = 1 if x ∈ B 5 Then T satisfies the condition of Theorem 3.1 and has a unique fixed point x = 14 . 8 Remark 3.3 We say that T : X → X has property P if F (T ) = F (T n ) (see [19]) where F (T ) = {x ∈ X : T x = x}. It is an easy exercise to see that under the assumptions of Theorem 3.1, T has property P . Following theorem is the fixed point result for Kannan type contraction in rectangular b-metric space. Theorem 3.4 Let (X, d) be a complete rectangular b-metric space with coefficient s > 1 and T : X → X be a mapping satisfying: d(T x, T y) ≤ λ[d(x, T x) + d(y, T y)] (3.8) 1 for all x, y ∈ X, where λ ∈ [0, s+1 ]. Then T has a unique fixed point. Proof 1 Let x0 ∈ X be arbitrary. We define a sequence {xn } by xn+1 = T xn for all n ≥ 0. We shall show that {xn } is Cauchy sequence. If xn = xn+1 then xn is fixed point of T. So, suppose that xn 6= xn+1 for all n ≥ 0. Setting d(xn , xn+1 ) = dn , it follows from (3.8) that d(xn , xn+1 ) = d(T xn−1 , T xn ) ≤ λ[d(xn−1 , T xn−1 ) + d(xn , T xn )] d(xn , xn+1 ) = λ[d(xn−1 , xn ) + d(xn , xn+1 )] dn = λ[dn−1 + dn ] λ dn ≤ dn−1 = βdn−1 , 1−λ where β = λ 1−λ < 1 s (as, λ < 1 ). s+1 Repeating this process we obtain dn ≤ β n d0 . (3.9) Also, we can assume that x0 is not a periodic point of T. Indeed, if x0 = xn then using (3.9), for any n ≥ 2, we have d(x0 , T x0 ) d(x0 , x1 ) d0 d0 = = = ≤ d(xn , T xn ) d(xn , xn+1 ) dn β n d0 , a contradiction. Therefore, we must have d0 = 0, i.e., x0 = x1 , and so x0 is a fixed point of T. Thus we assume that xn 6= xm for all distinct n, m ∈ N. Again using (3.8) and 9 (3.9) for any n ∈ N, we obtain d(xn , xn+2 ) = = ≤ = = d(T xn−1 , T xn+1 ) ≤ λ[d(xn−1 , T xn−1 ) + d(xn+1 , T xn+1 )] λ[d(xn−1 , xn ) + d(xn+1 , xn+2 )] = λ[dn−1 + dn+1 ] λ[β n−1 d0 + β n+1 d0 ] λβ n−1 [1 + β 2 ]d0 γβ n−1 d0 . Therefore, d(xn , xn+2 ) ≤ γβ n−1 d0 , (3.10) where γ = λ[1 + β 2 ] > 0. For the sequence {xn } we consider d(xn , xn+p ) in two cases. If p is odd say 2m + 1 then using (3.9) we obtain d(xn , xn+2m+1 ) ≤ s[d(xn , xn+1 ) + d(xn+1 , xn+2 ) + d(xn+2 , xn+2m+1 )] ≤ s[dn + dn+1 ] + s2 [d(xn+2 , xn+3 ) + d(xn+3 , xn+4 ) +d(xn+4 , xn+2m+1 )] ≤ s[dn + dn+1 ] + s2 [dn+2 + dn+3 ] + s3 [dn+4 + dn+5 ] + · · · + sm dn+2m ≤ s[β n d0 + β n+1 d0 ] + s2 [β n+2 d0 + β n+3 d0 ] + s3 [β n+4 d0 + β n+5 d0 ] + · · · + sm β n+2m d0 ≤ sβ n [1 + sβ 2 + s2 β 4 + · · · ]d0 + sβ n+1 [1 + sβ 2 + s2 β 4 + · · · ]d0 1+β = sβ n d0 (note that sβ 2 < 1). 2 1 − sβ Therefore, d(xn , xn+2m+1 ) ≤ 1+β sβ n d0 . 2 1 − sβ (3.11) 10 If p is even say 2m then using (3.9) and (3.10) we obtain d(xn , xn+2m ) ≤ s[d(xn , xn+1 ) + d(xn+1 , xn+2 ) + d(xn+2 , xn+2m )] ≤ s[dn + dn+1 ] + s2 [d(xn+2 , xn+3 ) + d(xn+3 , xn+4 ) +d(xn+4 , xn+2m )] ≤ s[dn + dn+1 ] + s2 [dn+2 + dn+3 ] + s3 [dn+4 + dn+5 ] + · · · + sm−1 [d2m−4 + d2m−3 ] + sm−1 d(xn+2m−2 , xn+2m ) ≤ s[β n d0 + β n+1 d0 ] + s2 [β n+2 d0 + β n+3 d0 ] + s3 [β n+4 d0 + β n+5 d0 ] + · · · + sm−1 [β 2m−4 d0 + β 2m−3 d0 ] + sm−1 γβ n+2m−3 d0 ≤ sβ n [1 + sβ 2 + s2 β 4 + · · · ]d0 + sβ n+1 [1 + sβ 2 + s2 β 4 + · · · ]d0 +sm−1 γβ n+2m−3 d0 , i.e. 1+β sβ n d0 + sm−1 γβ n+2m−3 d0 2 1 − sβ 1+β sβ n d0 + γ(sβ)2m β n−3 d0 (as 1 < s) < 2 1 − sβ 1+β sβ n d0 + γβ n−3 d0 (as β ≤ 1s ). ≤ 1 − sβ 2 d(xn , xn+2m ) ≤ Therefore d(xn , xn+2m ) ≤ 1+β sβ n d0 + γβ n−3 d0 . 1 − sβ 2 (3.12) It follows from (3.11) and (3.12) that lim d(xn , xn+p ) = 0 for all p > 0. n→∞ (3.13) Thus {xn } is a Cauchy sequence in X. By completeness of (X, d) there exists u ∈ X such that lim xn = u. (3.14) n→∞ We shall show that u is a fixed point of T. Again, for any n ∈ N we have d(u, T u) ≤ = ≤ = (1 − sλ)d(u, T u) ≤ s[d(u, xn ) + d(xn , xn+1 ) + d(xn+1 , T u)] s[d(u, xn ) + dn + d(T xn , T u)] s[d(u, xn ) + dn + λ{d(xn , T xn ) + d(u, T u)}] s[d(u, xn ) + dn + λ{d(xn , xn+1 ) + d(u, T u)}] s[d(u, xn ) + β n d0 + λd(xn , xn+1 )] 11 1 Using (3.13) and (3.14) and the fact that λ < s+1 , it follows from above inequality that d(u, T u) = 0, i.e., T u = u. Thus u is a fixed point of T. For uniqueness, let v be another fixed point of T. Then it follows from (3.8) that d(u, v) = d(T u, T v) ≤ λ[d(u, T u) + d(v, T v)] = λ[d(u, u) + d(v, v)] = 0. Therefore, we have d(u, v) = 0, i.e., u = v. 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