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Relatively dominated representations

Anosov representations give a higher-rank analogue of convex cocompactness in a rank-one Lie group which shares many of its good geometric and dynamical properties; geometric finiteness in rank one may be seen as a controlled weakening of convex cocompactness to allow for isolated failures of hyperbolicity. We introduce relatively dominated representations as a relativization of Anosov representations, or in other words a higher-rank analogue of geometric finiteness. We prove that groups admitting relatively dominated representations must be relatively hyperbolic, that these representations induce limit maps with good properties, provide examples, and draw connections to work of Kapovich--Leeb which also introduces higher-rank analogues of geometric finiteness.