Energy minimizing harmonic maps with an obstacle at the free boundary

We consider partial regularity for energy minimizing maps satisfying a partially free boundary condition. This condition takes the form of the requirement that a relatively open subset of the boundary of the domain manifold be mapped into a closed submanifold with non-empty boundary, contained in the target manifold. We obtain an optimal estimate on the Hausdorff dimension of the singular set of such a map. Our result can be interpreted as regularity result for a vector-valued Signorini, or thin-obstacle, problem.