Let πΌ,π½:πβπ be paths with common endpoints, i.e. πΌ(0)=π½(0) and πΌ(1)=π½(1).
Then a homotopy of pathsπ»:πΌβπ½ is a homotopy of maps with the additional constraint that the endpoints are the same for all π‘, homotopy i.e. πΊ:[0,1]Γ[0,1]βπ with