1 Introduction

In this paper, we study social choice problems where a finite set of individuals/agents have to choose one between two alternatives. Let a and b be two alternatives. We assume that individuals can report one among the following three preferences over these two alternatives: (1) a is strictly preferred to b, (2) b is strictly preferred to a and (3) a is indifferent to b. Based on individuals’ reported preferences, a Social Choice Function (or simply a rule) selects an alternative. Choosing between two alternatives has many important applications - such as, two candidate elections, up-down votes on legislation, choosing one out of two locations for locating a public facility, yes-no decisions about building a new public facility or any situation with a status-quo alternative and a new alternative.

Throughout this paper we consider non-constant rules i.e. onto rules. Ontoness implies efficiency (or unanimity) for strategy-proof rules defined over a suitably rich domain of strict preferencesFootnote 1. However, ontoness does not imply efficiency if preference domain includes indifference (see Examples in Sect. 3)Footnote 2. We do not impose efficiency criteria on rules and characterize the class of onto and strategy-proof rules in this framework. Further, we provide a simple description of the class of anonymous, onto and strategy-proof rules.

A natural objection could be why one might compromise efficiency. In election, it is quite often that a significant proportion of voters express their opinion as indifference. For instance, abstaining from voting can be interpreted as indifferenceFootnote 3. Our objective in this paper is to examine the role played by the agents who are indifferent among the two alternatives. In this scenario, if we only look at efficient and strategy-proof voting rules, the outcome is simply based on voters who do not express their opinion as indifference. We believe that this is not desirable in particular when the number of indifferent voters is very large. However if we relax the requirement of efficiency, the outcome depends on both the voters who are indifferent and who are not. Of course, the class of efficient and strategy-proof rules is contained in the class of onto and strategy-proof rules.

In this paper, we introduce two classes of rules, one contained in the other. The larger one, named Generalized Voting by Committee (GVC) contains all onto and strategy-proof rules in our setting. In rough words, any GVC rule first considers the coalition of agents who are indifferent. If they are not winning, then the rule looks at the set of remaining agents (agents with strict preference) and selects the outcome for which there is a winning coalition. The technical details are purposefully not presented in this section in order to improve readability. The smaller class, named quota rule with indifference default contains those GVC rules which are also anonymous. Roughly, these are those GVC rules which cares about only the size of the coalitions and not the members of the coalitions. Further, we study a solidarity property in this framework. We consider the following solidarity property: “Welfare dominance under preference replacement (WDPR)”, which says that when the preferences of one agent change, the other agents all weakly gain or all weakly lose. We characterize the class of rules satisfying WDPR among the class of quota rules.

Larsson and Svensson (2006) characterizes the class of efficient and strategy-proof rules in this framework. These rules are known as voting by extended committees (see Sect. 3 for details). These rules are contained in the class of GVC rules - in fact, efficient GVC rules are voting by extended committees rules. A point of difference between Larsson and Svensson (2006) and this work is the presentation of the class of rules. Here our objective is to examine the role played by the indifferent agents. The winning coalitions in any voting by extended committees consists of agents with strict preferences. In such description, the role of the indifferent agent is not obvious. That is why, our presentation centers around agents with indifferences. It is worth mentioning at this point that our results in Theorems 1 and 2 can also be obtained as corollaries of Ju (2003) (see Conclusions for a detailed explanation). In our paper, however, apart from other results not included in Ju (2003), we propose alternative proofs and definitions of the characterized rules which we believe are useful for the literature.

This paper is organized as follows. Section 2 describes the basic notation and definitions. Section 3 discusses the relationship between ontoness and unanimity (or efficiency) and provides some rules which are onto and strategy-proof but not efficient. The main results are presented in Sect. 4. Proofs are relegated to the Appendix. We conclude the paper in Sect. 5.

2 Basic notation and definitions

Let \(A = \{a, b\}\) denote the set of two alternatives and \(N=\{1,\ldots ,n \}\), \(n\ge 2\), a finite set of agents/individuals. Each individual in N has a preference relation over A: she either prefers a, prefers b, or is indifferent between them. Let \({\mathcal {R}}\) be the set of these three preference relations. For each \(i\in N\), let \(R_i \in {\mathcal {R}}\) denote individual i’s preference relation. If a is at least as good asb according to individual i, we write \(aR_ib\). If she prefers a to b, we write \(aP_ib\) and if she is indifferent between the two, \(aI_ib\). Let \({\mathcal {P}}\) be the set of two strict preference relations defined over A.

A preference profile is a list \(R=(R_1,\ldots ,R_n)\in {\mathcal {R}}^n\) of individuals preferences. For any coalition \(S \subseteq N\) and any profile \(R \in {\mathcal {R}}\), \(R_S\) denotes the restriction of the profile R to the coalition Si.e.\(R_S = (R_i)_{i \in S}\). A profile \(R^\prime \in {\mathcal {R}}^n\) is defined to be a \(i-\)deviation from another profile \(R \in {\mathcal {R}}^n\) if \(R_{N {\setminus } \{i\}} = R^{\prime }_{N {\setminus } \{i\}}\).

For each \(R\in {\mathcal {R}}^n\) , let \(N_{a}(R)\) be the set of individuals who prefer a to b at R. Similarly, let \(N_{b}(R)\) be the set of individuals who prefer b to a, and let \(N_{A}(R)\) be the set of individuals who are indifferent between a and b at R. Finally, let \(\varsigma \) be the set of permutations of N. For each \(R\in {\mathcal {R}}^n\) and each \(\sigma \in \varsigma \), let \(\sigma (R)= (R_{\sigma (i)})_{i\in N}\).

Definition 1

A SCF f is a mapping from \({\mathcal {R}}^n\) to Ai.e.\(f: {\mathcal {R}}^n\longrightarrow A\).

A SCF is sometimes called a voting rule (or simply a rule).

Definition 2

A SCF f is onto if for every alternative \(x \in A\) there exists a profile \(R \in {\mathcal {R}}^n\) such that \(f(R)=x\).

Note that, as \(|A| = 2\), if f is not onto, then it must be a constant rule i.e. a rule that selects the same alternative at each profile.

We list some well-known properties of SCFs below.

Definition 3

A SCF f satisfies unanimity, if for all profile \(R\in {\mathcal {R}}^n\), \(f(R) = a\) whenever \(N_a(R) \ne \emptyset \) and \(N_b(R) = \emptyset \), and \(f(R) = b\) whenever \(N_a(R) = \emptyset \) and \(N_b(R) \ne \emptyset \).

If \(x\in A\) is at least as good as \(A{\setminus } \{x\}\) by all individuals and at least one individual prefers x, then by unanimity, the SCF must select x. Unanimity is also known as efficiency in this model.

The next property imposes a weaker requirement than unanimity. If all individuals prefer \(x\in A\), then the SCF must select x.

Definition 4

A SCF f satisfies weak unanimity, if for all profile \(R \in {\mathcal {R}}^n\), \(f(R) = a\) whenever \(N_a(R) = N\), and \(f(R) = b\) whenever \(N_b(R) = N\).

Anonymity requires that the names of the agents should not matter. In particular, when the identities of the agents are shuffled, the rule must select the same alternative.

Definition 5

A SCF f is anonymous if for any \(R \in {\mathcal {R}}^n\) and for any \(\sigma \in \varsigma \), we have \(f(R)=f(\sigma (R))\).

Definition 6

A SCF f is strategy-proof if, for any \(i\in N\), for any \(R \in {\mathcal {R}}^n\) and for any \(i-\)deviation \(R^\prime \in {\mathcal {R}}^n\) of R, we have \(f(R) R_i f(R^\prime )\).

A SCF is strategy-proof if no individual can obtain a preferred alternative by misrepresenting her preferences for any announcement of the preferences of the other individuals. Strategy-proofness ensures that for every agent truth-telling is a weakly dominant strategy in the direct revelation game induced by the SCF.

Next we introduce a weaker notion of strategy-proofness as follows.

Definition 7

A SCF f is weakly strategy-proof if, for any \(i\in N\), for any \(R \in {\mathcal {R}}^n\) and for any \(i-\)deviation \(R^\prime \in {\mathcal {R}}^n\) of R such that \(R_i \in {\mathcal {P}}\) and \(a I^\prime _i b\), we have \(f(R) R_i f(R^\prime )\).

Next we show that in our model, strategy-proofness and weak strategy-proofness are equivalent.

Lemma 1

Let \(f : {\mathcal {R}}^n \longrightarrow A\) be a SCF. f is strategy-proof if and only if f is weakly strategy-proof.

The proof of Lemma 1 is in the Appendix. Weak strategy-proofness can be seen as participation property of a SCF for the case of two alternatives [for instance, see Section 3 in Núñez and Sanver (2017)]Footnote 4. Therefore, with two alternatives, participation property and strategy-proofness are logically equivalent.

3 Unanimity versus weak unanimity

It is important to mention that unanimity implies weak unanimity and weak unanimity implies ontoness. However, ontoness does not imply weak unanimity and weak unanimity does not imply unanimity. If we restrict our attention to strategy-proof SCFs, then ontoness implies weak unanimity. In the following, we show this.

Proposition 1

Let \(f:{\mathcal {R}}^n\rightarrow A\) be a strategy-proof SCF. If f is onto, then it satisfies weak unanimity.

Proof

Suppose not. We assume that \(f(R)=b\) where \(aP_ib\) for all \(i\in N\). Since f is onto, there exists \(R^\prime \in {\mathcal {R}}^n\) such that \(f(R^\prime )=a\). Applying strategy-proofness repeatedly, it follows that

$$\begin{aligned} f(R^\prime )&= f(R_1,R^\prime _2,\ldots ,R^\prime _n) \\&= f(R_1,R_2,R^\prime _3,\ldots ,R^\prime _n) \\&\ \vdots \\&= f(R_1,\ldots ,R_n)\\&= a \end{aligned}$$

This contradicts the assumption \(f(R)=b\). A similar argument will lead to a contradiction if we assume that \(f(R)=a\) where \(bP_ia\) for all \(i\in N\). Therefore f satisfies weak unanimity. \(\square \)

We first introduce the class of unanimous and strategy-proof rules known in the literature as \(VEC^{a,t}\) which were characterized by Larsson and Svensson (2006). To introduce the class of unanimous and strategy-proof rules on \({\mathcal {R}}^n\), we need the following notations and definitions. For each \(M\subseteq N\), a committee for alternative a at M, \({\mathcal {F}}_M\), is a set of subsets of M, satisfying the following two properties:

  1. 1.

    Non-emptyness: If \(M\ne \emptyset \), then \({\mathcal {F}}_M\ne \emptyset \) and \(\emptyset \notin {\mathcal {F}}_M\). If \(M=\emptyset \), then \({\mathcal {F}}_M=\emptyset \).

  2. 2.

    Monotonicity: For each \(S\in {\mathcal {F}}_M\) and \(T\subseteq M\), if \(S\subseteq T\), then \(T\in {\mathcal {F}}_M\).

A collection of committees for a, \({\mathcal {F}}\equiv \{{\mathcal {F}}_M\}_{M\subseteq N}\), is a set containing for each \(M\subseteq N\) a committee for a at M, \({\mathcal {F}}_M\), satisfying the following properties:

For each \(M\subseteq N\) and each \(i\in M\)

  1. 1.

    If \(S\in {\mathcal {F}}_M\) and \(i\notin S\), then \(S\in {\mathcal {F}}_{M{\setminus }\{i\}}\).

  2. 2.

    If \(S\cup \{i\}\notin {\mathcal {F}}_M\), then \(S\notin {\mathcal {F}}_{M{\setminus }\{i\}}\).

Definition 8

A SCF is voting by extended committees, denoted by \(VEC^{a,t}\), if there exists a collection of committees for a (i.e. \({\mathcal {F}}\)) and a tie-breaker \(t\in A\) such that for all \(R\in {\mathcal {R}}^n\);

$$\begin{aligned} VEC^{a, t}(R) = \left\{ \begin{array}{l l} t &{} \quad if N_A(R) = N\\ a &{} \quad if N_{a}(R) \in {\mathcal {F}}_{N{\setminus } N_{A}(R)}\\ b &{} \quad otherwise \\ \end{array} \right. \end{aligned}$$

A natural question arises - if a SCF satisfies ontoness and strategy-proofness, does it satisfy unanimity? In the following, we provide rules which are strategy-proof and onto but not unanimous.

Example 1

Consider the following SCF \(f:{\mathcal {R}}^n\longrightarrow A\):

$$\begin{aligned} f(R) = \left\{ \begin{array}{l l} a &{} \quad \text {if } aR_1b\\ b &{} \quad \text {if } bP_1a\\ \end{array} \right. \end{aligned}$$

Note that f satisfies strategy-proofness and ontoness (see Sect. 4.1). However, it does not satisfy unanimity. To see this, consider a preference profile \(R^\prime \) where \(aI^\prime _1b\) and for all \(j\in N {\setminus } \{1\}\), \(b P^\prime _j a\). Unanimity implies that f must select b at \(R^\prime \). However, \(f(R^\prime )=a\). Therefore f is not unanimous. \(\square \)

Note that the rule in Example 1 is not anonymous. However, there are anonymous, onto and strategy-proof rules which are not unanimous.

Example 2

Consider the status-quo rule with respect to the status-quo alternative a, \(f^a:{\mathcal {R}}^n\longrightarrow A\):

$$\begin{aligned} f^a(R) = \left\{ \begin{array}{l l} b &{} \quad \text {if } b \text { is preferred by all agents} \\ a &{} \quad \text {otherwise }\\ \end{array} \right. \end{aligned}$$

It is straightforward that \(f^a\) is strategy-proof, anonymous and onto (see Sect. 4.2). However, \(f^a\) is not unanimous. Consider a preference profile R where \(aI_ib\) for some \(i \in N\) and for all \(j \in N {\setminus } \{i\}\), \(bP_ja\). Unanimity implies that \(f^a\) must select b at R. However, \(f^a(R)=a\). Therefore \(f^a\) is not unanimous.

The status-quo rule with respect to the status-quo alternative b, is defined as follows:

$$\begin{aligned} f^b(R) = \left\{ \begin{array}{l l} a &{} \quad \text {if } a \text { is preferred by all agents} \\ b &{} \quad \text {otherwise }\\ \end{array} \right. \end{aligned}$$

It can be seen that \(f^b\) is strategy-proof, anonymous and onto but not unanimous. \(\square \)

The following class of rules can be found in Chapter 2 of Fishburn (1973).

Example 3

Let \(s:{\mathcal {R}}\longmapsto \{1,0,-1\}\) such that

$$\begin{aligned} s(R_i) = \left\{ \begin{array}{l l} 1 &{} \quad \text { if } aP_ib\\ 0 &{} \quad \text { if } aI_ib\\ -1 &{} \quad \text { if } bP_ia \end{array} \right. \end{aligned}$$

For each \(R\in {\mathcal {R}}^n\), we denote \(s(R)=\sum ^n_{i=1} s(R_i)\).

We fix an integer \(h\in (-n,n] \cap {\mathbb {Z}}\) and define the SCF \(f^h\), as follows: For all \(R\in {\mathcal {R}}^n\)

$$\begin{aligned} f^h(R) = \left\{ \begin{array}{l l} a &{} \quad if s(R)\ge h\\ b &{} \quad otherwise \end{array} \right. \end{aligned}$$

First, we make following remarks on these rules.

  1. 1.

    If \(h = 1\), we get the simple majority rule i.e.a beats b whenever more individuals that prefer a to b than prefer b to a and b beats a whenever the converse holds.

  2. 2.

    The case where a wins if the number of individuals that prefer a to b exceeds the number of individuals that prefer b to a by at least a positive integer r, and b wins otherwise, is described by \(h = r\).

  3. 3.

    If \(h = n\), then we get the status-quo rule with respect to status quo alternative b. Similarly, if \(h = -(n-1)\), then we get the status-quo rule with respect to status-quo alternative a.

  4. 4.

    If \(h = -n\), then \(f^{-n}(R) = a\) for all profiles, a constant rule. That is why we exclude this case.

In Sect. 4.2, we show that \(f^h\) is strategy-proof, anonymous and onto. Whether \(f^h\) is unanimous or not, that depends on the value of h. In particular, it can be seen that \(f^h\) is unanimous if \(h\in \{0, 1\}\). However if \(h>1\) or \(h\le -1\), then \(f^h\) is not unanimous. To see this, we first assume that \(h>1\). Let \(R\in {\mathcal {R}}^n\) be a preference profile where \(aP_ib\) and \(aI_jb\) for all \(j\in N{\setminus } i\). By unanimity, we should select a at R. However \(f^h(R)=b\), because \(s(R)=1<h\). Similarly, if \(h\le -1\), at \(R\in {\mathcal {R}}^n\) where \(bP_ia\) and \(aI_jb\) for all \(j\in N{\setminus } i\), \(f^h(R)=a\), because \(s(R)=-1\ge h\) - violates unanimity. \(\square \)

We can think of a rule where the number of individuals who are indifferent between two alternatives, can determine the outcome. For instance, consider a rule which selects an alternative \(x\in A\) if the number of indifferent individuals is at least a positive integer \(r\in \{1,2,\ldots ,n\}\). Otherwise if the number is less than r, then based upon the preferences of strict individuals, the rule selects x or the other alternative \(A{\setminus } \{x\}\). Below, we introduce a class of such rules.

Example 4

We fix a positive integer \(r \in \{1,2,\ldots ,n\}\) and define the SCF \(f^r\) as follows: For all \(R\in {\mathcal {R}}^n\)

$$\begin{aligned} f^r(R) = \left\{ \begin{array}{l l} b &{} \quad \text { if }|N_{A}(R)|\ge r \\ b &{} \quad \text { if }|N_{A}(R)|< r\text { and }|N_{b}(R)|\ne 0\\ a &{} \quad \text { if }|N_{A}(R)|< r\text { and }|N_{b}(R)|= 0 \end{array} \right. \end{aligned}$$

We make the following remarks on these rules.

  1. 1.

    If \(r=1\), then we get the status-quo rule with respect to status quo alternative b.

  2. 2.

    If \(r=n\), then we get the consensus rule with disagreement-default b and indifference-default b ( Manjunath (2012)).

In Sect. 4.2, we show that \(f^r\) is strategy-proof, anonymous and onto. However, whether \(f^r\) is unanimous or not depends on r. In particular, if \(r=n\), then it is straightforward to show that \(f^r\) is unanimous. However, if \(r<n\), \(f^r\) is not unanimous. To see this, consider \(R\in {\mathcal {R}}^n\) where \(aP_ib\) and \(aI_jb\) for all \(j\in N{\setminus } i\). By unanimity, we should select a at R. However \(f^r(R)=b\), because \(|N_{A}(R)|=n-1\ge r\). \(\square \)

4 Results

4.1 Generalized voting by committees

In this section, we characterize onto and strategy-proof rules. For this, we need to introduce additional notation and definitions.

A committee for indifference default\(d\in \{a,b\}\), denoted by\({\mathcal {I}}^d\), is a set of subsets of N, satisfying the following two properties:

  1. 1.

    Non-emptyness\({\mathcal {I}}^d\ne \emptyset \) and \(\emptyset \notin {\mathcal {I}}^d\).

  2. 2.

    Monotonicity For each \(S\in {\mathcal {I}}^d\) and \(T\subseteq N\), if \(S\subseteq T\), then \(T\in {\mathcal {I}}^d\).

Since \(d\in \{a,b\}\), \({\mathcal {I}}^a\) denotes a committee for indifference default a. Similarly, a committee for indifference default b is denoted by \({\mathcal {I}}^b\).

Let \(M\subseteq N\) and \({\mathcal {I}}^d\) be a committee for indifference default d. A committee foraatMwith respect to\({\mathcal {I}}^d\), denoted by \({\mathcal {F}}_{M,{\mathcal {I}}^d}\), is a set of subsets of M, satisfying the following two properties:

  1. 1.

    Non-emptiness with respect to\({\mathcal {I}}^d\): If \(N{\setminus } M\notin {\mathcal {I}}^d\), then \({\mathcal {F}}_{M,{\mathcal {I}}^d}\ne \emptyset \) and \(\emptyset \notin {\mathcal {F}}_{M,{\mathcal {I}}^d}\). If \(N{\setminus } M\in {\mathcal {I}}^d\), then \({\mathcal {F}}_{M,{\mathcal {I}}^d}=\emptyset \).

  2. 2.

    Monotonicity For each \(S\in {\mathcal {F}}_{M,{\mathcal {I}}^d}\) and \(T\subseteq M\), if \(S\subseteq T\), then \(T\in {\mathcal {F}}_{M,{\mathcal {I}}^d}\).

A collection of committees forawith respect to\({\mathcal {I}}^a\), denoted by \({\mathcal {F}}_{{\mathcal {I}}^a}\equiv \{{\mathcal {F}}_{M,{\mathcal {I}}^a}\}_{M\subseteq N}\), is a set containing for each \(M\subseteq N\) a committee for a with respect to \({\mathcal {I}}^a\) i.e. \({\mathcal {F}}_{M,{\mathcal {I}}^a}\), satisfying the following properties:

For each \(M\subseteq N\) and each \(i\in M\)

  1. 1.

    If \(N{\setminus } M\notin {\mathcal {I}}^a\) and \(\{N{\setminus } M\}\cup \{i\}\in {\mathcal {I}}^a\), then for all \(S \subseteq M\) such that \(i\in S\), \(S\in {\mathcal {F}}_{M,{\mathcal {I}}^a}\).

  2. 2.

    If \(S\in {\mathcal {F}}_{M,{\mathcal {I}}^a}\), \(i\notin S\) and \(\{N{\setminus } M\}\cup \{i\}\notin {\mathcal {I}}^a\), then \(S\in {\mathcal {F}}_{M{\setminus }\{i\},{\mathcal {I}}^a}\).

  3. 3.

    If \(N{\setminus } M\notin {\mathcal {I}}^a\), \(S\cup \{i\}\notin {\mathcal {F}}_{M,{\mathcal {I}}^a}\) and \(\{N{\setminus } M\}\cup \{i\}\notin {\mathcal {I}}^a\), then \(S\notin {\mathcal {F}}_{M{\setminus }\{i\},{\mathcal {I}}^a}\).

Similarly, a collection of committees forawith respect to\({\mathcal {I}}^b\), \({\mathcal {F}}_{{\mathcal {I}}^b}\equiv \{{\mathcal {F}}_{M,{\mathcal {I}}^b}\}_{M\subseteq N}\), is a set containing for each \(M\subseteq N\) a committee for a with respect to \({\mathcal {I}}^b\) i.e. \({\mathcal {F}}_{M,{\mathcal {I}}^b}\), satisfying the following properties:

For each \(M\subseteq N\) and each \(i\in M\)

  1. 1.

    If \(N{\setminus } M\notin {\mathcal {I}}^b\) and \(\{N{\setminus } M\}\cup \{i\}\in {\mathcal {I}}^b\), then for all \(S\in {\mathcal {F}}_{M,{\mathcal {I}}^b}\), \(i\in S\).

  2. 2.

    If \(S\in {\mathcal {F}}_{M,{\mathcal {I}}^b}\), \(i\notin S\) and \(\{N{\setminus } M\}\cup \{i\}\notin {\mathcal {I}}^b\), then \(S\in {\mathcal {F}}_{M{\setminus }\{i\},{\mathcal {I}}^b}\).

  3. 3.

    If \(N{\setminus } M\notin {\mathcal {I}}^b\), \(S\cup \{i\}\notin {\mathcal {F}}_{M,{\mathcal {I}}^b}\) and \(\{N{\setminus } M\}\cup \{i\}\notin {\mathcal {I}}^b\), then \(S\notin {\mathcal {F}}_{M{\setminus }\{i\},{\mathcal {I}}^b}\).

Given a committee for indifference default d, \({\mathcal {I}}^d\) and a collection of committees for a with respect to \({\mathcal {I}}^d\), we define generalized voting by committees (GVC) as follows.

Definition 9

A SCF is a GVC, denoted by \(f^{{\mathcal {I}}^d}_{{\mathcal {F}}_{{\mathcal {I}}^d}}\), if there exist a committee for indifference default d, \({\mathcal {I}}^d\) where \(d\in A\) and a collection of committees for a with respect to \({\mathcal {I}}^d\), \({\mathcal {F}}_{{\mathcal {I}}^d}\), such that for all \(R\in {\mathcal {R}}^n\);

$$\begin{aligned} f^{{\mathcal {I}}^d}_{{\mathcal {F}}_{{\mathcal {I}}^d}}(R) = \left\{ \begin{array}{l l} \text {d} &{} \quad \text { if } N_{A}(R)\in {\mathcal {I}}^d\\ \text {a} &{} \quad \text { if } N_a(R)\in {\mathcal {F}}_{N{\setminus } N_{A}(R),{\mathcal {I}}^d} \text { and } N_{A}(R)\notin {\mathcal {I}}^d\\ \text {b} &{} \quad \text { otherwise}\\ \end{array} \right. \end{aligned}$$

A generalized voting by committees (GVC) rule is described by two sets. The first one is a nonempty set of subsets of N satisfying a monotonicity condition and we say it as a committee for indifference default \(d\in \{a,b\}\). The second one is a set containing for each \(M\subseteq N\), a committee for the alternative a at M. Moreover, the second set, not only depends on the first set, but also satisfies further properties. For any preference profile, if the set of agents who are indifferent between two alternatives, belongs to the committee for indifference default d, then the rule selects d at that profile. Otherwise, consider the committee for a at the set of agents with strict preferences over a and b - if the set of agents who prefers a to b, belongs the that committee, then the outcome is a or if it does not belong the that committee, then the outcome is b.

Now we state the main result of the paper.

Theorem 1

Let \(f : {\mathcal {R}}^n \longrightarrow A\) be a SCF. Then, f is onto and strategy-proof if and only if f is a GVC.

The proof of Theorem 1 is in the Appendix. However, we make several remarks on Theorem 1 in the following:

  1. 1.

    Larsson and Svensson (2006) characterizes unanimous (or efficient) and strategy-proof rules in this framework. In particular, they show that the only unanimous and strategy-proof rules are \(VEC^{a, t}\) (see Sect. 3). We consider the much weaker requirement of ontoness and characterize strategy-proof rules in this framework. The class of \(VEC^{a, t}\) rules belongs to the the class of GVC rules. In particular, a GVC rule, \(f^{{\mathcal {I}}^d}_{{\mathcal {F}}_{{\mathcal {I}}^d}}\) is unanimous if and only if \({\mathcal {I}}^d=\{N\}\).

  2. 2.

    It can be seen that the rule in Example 1 is a GVC rule where \({\mathcal {I}}^a= \{S\subseteq N: 1\in S\}\) and \({\mathcal {F}}_{{\mathcal {I}}^a}\equiv \{{\mathcal {F}}_{M,{\mathcal {I}}^a}\}_{M\subseteq N}\) is as described below:

    $$\begin{aligned} {\mathcal {F}}_{M,{\mathcal {I}}^a} = \left\{ \begin{array}{cl} \left\{ S \subseteq M : \begin{array}{c} 1\in S \\ \end{array}\right\} &{} \quad \text { if } \begin{array}{l} 1\in M \\ \end{array} \\ \\ \emptyset &{} \quad \text { if } \begin{array}{l} 1\notin M \end{array} \end{array}\right. \end{aligned}$$
  3. 3.

    Using Lemma 1, it follows that Theorem 1 would still hold if we replace strategy-proofness with weak strategy-proofness.

4.2 Quota rules

Theorem 1 provides a characterization of onto and strategy-proof rules in our model. However, we must confess that GVC rules are not simple to describe. The rules that are anonymous, can be described in much simpler way. First we define the following class of rules.

Definition 10

A SCF is a quota rule with indifference defaulta, denoted by \(f_a^{k, x}\), if there exists a vector of natural numbers of length k, \(x=(x_1,x_2,\ldots ,x_k) \in \{1\} \times \{1, 2\} \times \ldots \times \{1, 2, \ldots , k\}\), where \(k \in \{1, 2, \ldots , n\}\) and \(x_{i + 1} - 1 \le x_i \le x_{i + 1}\) for all \(i \in \{1, 2, \ldots , k-1\}\) such that for all \(R\in {\mathcal {R}}^n\)

$$\begin{aligned} f_a^{k, x}(R) = \left\{ \begin{array}{cl} a &{} \quad \text { if } |N_A(R)| \ge k \\ \\ a &{} \quad \text { if } |N_A(R)| < k \\ &{} \quad \quad \text { and } |N_a(R) \cup N_b(R)| = n - k + l \text { for some } l \in \{1, 2, \ldots , k\} \\ &{} \quad \quad \text { and } |N_a(R)| \ge x_l \\ \\ b &{} \quad \text { otherwise } \end{array}\right. \end{aligned}$$

Next we define another class of rules as follows.

Definition 11

A SCF is a quota rule with indifference defaultb, denoted by \(f_b^{k, y}\), if there exists a vector of natural numbers of length k, \(y=(y_1,y_2,\ldots ,y_k) \in \{n - k + 1\} \times \{n - k + 1, n - k + 2\} \times \ldots \times \{n - k + 1, n - k + 2, \ldots , n\}\), where \(k \in \{1, 2, \ldots , n\}\) and \(y_{i + 1} - 1 \le y_i \le y_{i + 1}\) for all \(i \in \{1, 2, \ldots , k-1\}\) such that for all \(R\in {\mathcal {R}}^n\)

$$\begin{aligned} f_b^{k, y}(R) = \left\{ \begin{array}{cl} b &{} \quad if |N_A(R)| \ge k \\ \\ a &{} \quad if |N_A(R)| < k \\ &{} \quad \quad and |N_a(R) \cup N_b(R)| = n - k + l for some l \in \{1, 2, \ldots , k\} \\ &{} \quad \quad and |N_a(R)| \ge y_l \\ \\ b &{} \quad otherwise \end{array}\right. \end{aligned}$$

A quota rule with indifference default a is described simply by a vector of integers of length k, \(k \in \{1, 2, \ldots , n\}\), \(x=(x_1,x_2,\ldots ,x_k) \in \{1\} \times \{1, 2\} \times \ldots \times \{1, 2, \ldots , k\}\), where \(x_{i+1}-1 \le x_i \le x_{i + 1}\) for all \(i \in \{1, 2, \ldots , k-1\}\). Note that \(x_i\) is the \(i^{th}\) component of the vector x, where \(i\in \{1, 2, \ldots , k\}\). The rule works as follows. For any preference profile, if the number of agents who are indifferent between the two alternatives, is at least k, then the rule selects the indifference default a at that profile. Suppose that the number is less than k, i.e. the number of agents with strict preferences belongs to \(\{n-k+1,\ldots ,n\}\). In particular, we assume that the number of agents with strict preferences is \(n-k+l\) where \(l\in \{1,2,\ldots ,k\}\). Then the outcome is a if the number of agents who prefers a to b is at least \(x_l\) and the outcome is b if the number is less than \(x_l\). Here, k is the quota for indifference default a i.e. whenever the number of indifferent agents is at least k, the outcome is a. Also, \(x_l\) is the quota for a when the number of strict agents is \(n-k+l\), \(l\in \{1,2,\ldots ,k\}\) i.e when \(n-k+l\) is the number of strict agents, the outcome is a if the number of agents who prefers a to b is at least \(x_l\) and the outcome is b if the number is less than \(x_l\). Quota rule for a with indifference default b can also be described in similar fashion. Theorem 2 characterizes the class of anonymous, onto and strategy-proof rules in terms of quota rules in this framework.

Theorem 2

Let \(f : {\mathcal {R}}^n \longrightarrow A\) be a SCF. Then, f is anonymous, onto and strategy-proof if and only if it is either a quota rule with indifference default a or a quota rule with indifference default b.

The proof of Theorem 2 is in the Appendix. In the following, we make several remarks on Theorem 2:

  1. 1.

    An anonymous, onto and strategy-proof rule can be described simply by a vector of natural numbers of length k, where \(k\in \{1,2,\ldots ,n\}\). In particular, a quota rule with indifference default a, \(f_a^{k, x}\), is described by a vector of natural numbers of length k, \(x=(x_1,x_2,\ldots ,x_k) \in \{1\} \times \{1, 2\} \times \ldots \times \{1, 2, \ldots , k\}\), where \(k \in \{1, 2, \ldots , n\}\) and \(x_{i + 1} - 1 \le x_i \le x_{i + 1}\) for all \(i \in \{1, 2, \ldots , k-1\}\). For any \(R\in {\mathcal {R}}^n\), \(f_a^{k, x}\) works as follows.

    • If the number of individuals who are indifferent between two alternatives at R, is atleast k, i.e. \(|N_A(R)|\ge k\), then the rule selects the indifference default a i.e. \(f_a^{k, x}(R)=a\). Here, k is the quota for indifference default a.

    • If \(|N_A(R)|<k\), then note that \(|N_a(R) \cup N_b(R)|= n - k + l\) for some \(l \in \{1, 2, \ldots , k\}\) and we consider \(x_l\) which represents the quota for alternative a. If the number of individuals who vote for a is atleast \(x_l\), i.e. \(|N_a(R)| \ge x_l\), then \(f_a^{k, x}(R)=a\); otherwise \(f_a^{k, x}(R)=b\).

    A quota rule with indifference default b, can be described in a similar way as well.

  2. 2.

    Note that \(f_a^{k, x}\) is unanimous if and only if \(k=n\). Similarly, \(f_b^{k, y}\) is unanimous if and only if \(k=n\).

  3. 3.

    Rules in Example 2: The status-quo rule with respect to the status-quo alternative a, \(f^a\) is a quota rule with indifference default a, \(f^{k,x}_a\), where x is a vector of natural numbers of length 1 i.e. \(k=1\) and \(x\equiv (x_1)=(1)\). The status-quo rule with respect to the status-quo alternative b, \(f^b\) is a quota rule with indifference default b, \(f^{k,y}_b\) where y is a vector of natural numbers of length 1 i.e. \(k=1\) and \(y\equiv (y_1)=(n)\).

  4. 4.

    Rules in Example 3: If \(h>0\), the \(f^h\) is a quota rule with indifference default b, \(f^{k,y}_b\) where y is a vector of natural numbers of length \(n-h+1\) i.e. \(k=n-h+1\) and \(y\equiv (y_1,\ldots ,y_{n-h+1})=(h,h+1,h+1,h+2,h+2,h+3,\ldots )\).

    If \(h\le 0\), the \(f^h\) is a quota rule with indifference default a, \(f^{k,x}_a\), where x is a vector of natural numbers of length \(n+h\) i.e. \(k=n+h\) and \(x\equiv (x_1,\ldots ,x_{n+h})=(1,1,2,2,3,3,\ldots )\).

  5. 5.

    The rule in Example 4: It can be seen that the rule \(f^r\) in Example 4 is a quota rule with indifference default b, \(f^{k,y}_b\) where y is a vector of natural numbers of length r i.e. \(k=r\) and \(y\equiv (y_1,\ldots ,y_r)=(n-r+1,n-r+2,\ldots ,n)\).

  6. 6.

    Using Lemma 1, it follows that Theorem 1 would still hold if we replace strategy-proofness with weak strategy-proofness.

4.3 Solidarity and quota rules

Among the class of anonymous, onto and strategy-proof rules, those that satisfy solidarity property, are studied in this section. We consider the following solidarity property: “welfare dominance under preference replacement”, which says that when the preferences of one agent change, the other agents all weakly gain or all weakly lose.

Definition 12

A SCF f satisfies welfare dominance under preference replacement (WDPR) if for any \(R \in {\mathcal {R}}^n\), for any \(i\in N\) and for any \(R'_i\in {\mathcal {R}}\), either (i) for each \(j\in N{\setminus } \{i\}\), we have \(f(R)R_jf(R'_i,R_{-i})\) or (ii) for each \(j\in N{\setminus } \{i\}\), we have \(f(R'_i,R_{-i})R_jf(R)\).

Harless (2015) characterizes the class of WDPR rules. Among the class of WDPR rules, the rules that satisfy anonymity, ontoness and strategy-proofness, are discussed in this section. Before presenting the main results of this section, we state the following lemma.

Lemma 2

Let \(f:{\mathcal {R}}^n\longrightarrow A\) satisfy WDPR. Then, for all \(R,R'\in {\mathcal {R}}^n\) such that \(N_a(R)\), \(N_b(R)\), \(N_a(R')\), \(N_b(R')\)\(\ne \)\(\emptyset \), we have \(f(R)=f(R')\).

Proof

The proof can be found in Lemma 1 of Harless (2015). Hence, it is omitted. \(\square \)

According to Lemma 2, if a rule satisfies WDPR, then, it selects the same alternative in each disagreement profileFootnote 5.

Now we are ready to state our results. The following proposition characterizes the class of rules satisfying WDPR among the class of quota rules with indifference default a.

Proposition 2

Let \(n\ge 3\) and \(f_a^{k, x}:{\mathcal {R}}^n\longrightarrow A\) be a quota rule with indifference default a. Then, \(f_a^{k, x}\) satisfies WDPR if and only if x is a vector of natural numbers of length n, where \(x=(x_1,\ldots ,x_n)\in \{(1,1,\ldots ,1), (1,2,\ldots ,n)\}\) or x is a vector of natural numbers of length k, \(k\in \{1,2,\ldots ,n-1\}\), where \(x=(x_1,\ldots ,x_k)=(1,1,\ldots ,1)\).

The proof of Proposition 2 is in the Appendix. Next we characterize the class of rules satisfying WDPR among the class of quota rules with indifference default b.

Proposition 3

Let \(n\ge 3\) and \(f_b^{k, y}:{\mathcal {R}}^n\longrightarrow A\) be a quota rule with indifference default b. Then, \(f_b^{k, y}\) satisfies WDPR if and only if y is a vector of natural numbers of length n, where \(y=(y_1,\ldots ,y_n)\in \{(1,1,\ldots ,1), (1,2,\ldots ,n)\}\) or y is a vector of natural numbers of length k, \(k\in \{1,2,\ldots ,n-1\}\), where \(y=(y_1,\ldots ,y_k)=(n-k+1,n-k+2,\ldots ,n)\).

The proof of Proposition 2 is in the Appendix. In the following, we make remarks on Propositions 2 and 3.

  1. 1.

    If \(n=2\), then quota rules with indifference default a and quota rules with indifference default b, satisfy WDPR. For \(n>2\), this is not true.

  2. 2.

    For unanimous rules, WDPR implies strategy-proofness and anonymity [see Theorem 2(b) in Harless (2015)]. However, for onto rules, WDPR does not imply strategy-proofness and anonymity [see Theorem 2(a) in Harless (2015)]. By Propositions 2 and 3, the combination of anonymity, ontoness and strategy-proofness does not imply WDPR for \(n>2\). In particular, Proposition 2 and 3 together characterize the class of rules satisfying WDPR among the class of anonymous, onto and strategy-proof rules.

5 Conclusion

We study social choice problems where a finite set of individuals have to choose one between two alternatives. We consider the full preference domain which allows for indifference. We weaken the requirement of efficiency to ontoness and analyse strategy-proof rules in this framework. Firstly, we characterize the class of onto and strategy-proof rules. Further, we provide a simple description of the class of anonymous, onto and strategy-proof rules in this framework. It is important to mention that such characterizations can be obtained from Theorem 1 and Corollary 2 in Ju (2003). In particular, in Ju (2003), if one assumes that the set of indivisible objects contain only one item and the set of alternatives is all possible subsets of that set of indivisible object, then it boils down to our model. Ju (2003) characterizes the class of rules satisfying strategy-proofness and null-independence by describing the class of rules through profile of power structures. Null-independence is trivially satisfied in our setting. But, the main difference between Ju (2003) and this work lies in the description of the rules. The profile of power structure is a tuple of coalitions for every object (for one coalition, the object is good and for the other, it is bad), satisfying a monotonicity condition. Ju (2003) does not describe the profile of power structure in terms of those agents for whom an object is a null which is what we do in this paper. Note that agents for whom an object is a null in Ju (2003) would correspond to indifferent agents in our framework and the main focus of this paper has been to point out the roles played by the agents who are indifferent. Moreover, the description of the rules in this paper are easier than Ju (2003) (in particular, quota rules). At the same time, analysis with respect to solidarity properties is absent in Ju (2003), whereas our Propositions 2 and 3 together characterize the class of rules satisfying WDPR among the class of anonymous, onto and strategy-proof rules. Also note that from Lemma 1, we have equivalence between participation property (as introduced in Moulin (1991)) and strategy-proofness. Such a result is not attainable in Ju (2003).