Given a based space (π,π₯0) and πββ, we define an π-dimensional loop with base π₯0 to be a continuous function πΌ:(ππ,πππ)β(π,π₯0), i.e. mapping the boundary of the unit hypercube to the basepoint.
Given loops πΌ,π½βπ³ππβ’((ππ,πππ),(π,π₯0)) we define their concatenation as
The πth homotopy groupππ(π,π₯0) is the set of homotopy classes of such loops with the concatenation operation, i.e. as a set ππ(π,π₯0)=ππ³ππβ’((ππ,πππ),(π,π₯0)). homotopy
Equivalently, ππ(π,π₯0)=ππ³ππβ’((ππ,1),(π,π₯0)).