Proper affine actions in non-swinging representations (Q1650823)

Summary: For a semisimple real Lie group \(G\) with an irreducible representation \(\rho\) on a finite-dimensional real vector space \(V\), we give a sufficient criterion on \(\rho\) for existence of a group of affine transformations of \(V\) whose linear part is Zariski-dense in \(\rho(G)\) and that is free, nonabelian and acts properly discontinuously on \(V\).