BRAIDS: A SURVEY Joan S. Birman ∗ Tara E. Brendle † e-mail
[email protected] e-mail
[email protected] December 2, 2004 Abstract This article is about Artin’s braid group Bn and its role in knot theory. We set our- selves two goals: (i) to provide enough of the essential background so that our review would be accessible to graduate students, and (ii) to focus on those parts of the subject in which major progress was made, or interesting new proofs of known results were discovered, during the past 20 years. A central theme that we try to develop is to show ways in which structure first discovered in the braid groups generalizes to structure in Garside groups, Artin groups and surface mapping class groups. However, the liter- ature is extensive, and for reasons of space our coverage necessarily omits many very interesting developments. Open problems are noted and so-labelled, as we encounter them. A guide to computer software is given together with a 10 page bibliography. Contents 1 Introduction 3 1.1 Bn and Pn viaconfigurationspaces . .. .. .. .. .. .. 3 1.2 Bn and Pn viageneratorsandrelations . 4 1.3 Bn and Pn asmappingclassgroups ...................... 5 1.4 Some examples where braiding appears in mathematics, unexpectedly . 7 1.4.1 Algebraicgeometry............................ 7 1.4.2 Operatoralgebras ............................ 8 1.4.3 Homotopygroupsofspheres. 9 1.4.4 Robotics.................................. 10 1.4.5 Publickeycryptography. 10 2 From knots to braids 12 2.1 Closedbraids ................................... 12 2.2 Alexander’sTheorem.. .. .. .. .. .. .. .. .. 13 2.3 Markov’sTheorem ................................ 17 ∗The first author acknowledges partial support from the U.S.National Science Foundation under grant number 0405586.