Minimal words of length n

Let W be a finite word on a two symbol alphabet {0,1}; let us say that W is maximal if it is the last item in the list of all its cyclic permutation (ordered lexicographically).

So, for instance: {0,1} are the maximal words of length 1; {00, 10, 11} are the maximal words of length 2; {000, 100, 110, 111} are the maximal words of length 3; {0000, 1000, 1010, 1100, 1110, 1111} are the maximal words of length 4; {00000, 10000, 10100, 11000, 11010, 11100, 11110, 11111} are the maximal words of length 5; ... und so weiter.

Let k(n):= number of maximal words of length n

Is there some formula for k(n)?

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Isn't this just asking for the number of equivalence classes under cyclic permutations? These are called necklaces (or possibly bracelets, I can never remember the difference) and are well studied. See research.att.com/~njas/sequences/A000031 – gordon-royle Sep 14 2010 at 7:54
By definition, every cyclic conjugacy class of words of length n contains a unique maximal word. So this problem can be restated as: how many orbits are there for the action of the cyclic group of order n on the words of length n over alphabet {0,1} by cyclic rotations. – Victor Protsak Sep 14 2010 at 7:54
@Gordon A necklaces is the equivalence class of a word under cyclic permutation, a bracelet is the equivalence class of a word under cyclic permutation and reflection. – qwerty1793 Sep 14 2010 at 17:32

For aperiodic (sometimes also called, full period) strings, the term you are looking for is Lyndon words. These are the (unique lexicographically-least) representative of a full-period necklace (as stated in the comments, a necklace is the equivalence class under cyclic rotation). The number $k(n)$ you ask for is exactly the number of necklaces, and again, as stated in the comments, it is given by $k(n)=\frac{1}{n}\sum_{d|n}\phi(d)2^{n/d}$. You can check out a proof for this in S.W.Golomb's book "Shift Register Sequences" (in the 1967 edition, start looking at around page 171 and look for the cycles of $PCR_n$).

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 Thanks to everybody! As a matter of fact, I had checked if the first few items of the sequence were already listed in the "Encyclopedia of integer sequences", but -alas!- I did not find the right answer because of a mistake in the count of 8-letters "maximal" words :-( I hope this will not affect my reputation ;-) – ccarminat Sep 16 2010 at 6:52