Monopoles, vortices, domain walls and D-branes: The rules of interaction

Non-abelian gauge theories in the Higgs phase admit a startling variety of BPS solitons. These include domain walls, vortex strings, confined monopoles threaded on vortex strings, vortex strings ending on domain walls, monopoles threaded on strings ending on domain walls, and more. After presenting a self-contained review of these objects, including serveral new results on the dynamics of domain walls, we go on to examine the possible interactions of solitons of various types. We point out the existence of a classical binding energy when the string ends on the domain wall which can be thought of as a BPS boojum with negative mass. We present an index theorem for domain walls in non-abelian gauge theories. We also answer questions such as: Which strings can end on which walls? What happens when monopoles pass through domain walls? What happens when domain walls pass through each other?