Dynamical properties of convex cocompact actions in projective space

We give a dynamical characterization of convex cocompact group actions on properly convex domains in projective space in the sense of Danciger–Guéritaud–Kassel: we show that convex cocompactness in $R{P}^d$ is equivalent to an expansion property of the group about its limit set, occurring in different Grassmannians. As an application, we give a sufficient and necessary condition for convex cocompactness for groups that are hyperbolic relative to a collection of convex cocompact subgroups. We show that convex cocompactness in this situation is equivalent to the existence of an equivariant homeomorphism from the Bowditch boundary to the quotient of the limit set of the group by the limit sets of its peripheral subgroups.