Link concordances as surfaces in 4-space and the 4-dimensional Milnor invariants

Fixing two concordant links in $3$--space, we study the set of all embedded concordances between them, as knotted annuli in $4$--space. When regarded up to surface-concordance or link-homotopy, the set $\mathcal{C}(L)$ of concordances from a link $L$ to itself forms a group. In order to investigate these groups, we define Milnor-type invariants of $\mathcal{C}(L)$, which are integers defined modulo a certain indeterminacy given by Milnor invariants of $L$. We show in particular that, for a slice link $L$, these invariants classify $\mathcal{C}(L)$ up to link-homotopy.