We apply canonical Poisson-Lie T-duality transformations to bosonic open
string worldsheet boundary conditions, showing that the form of these
conditions is invariant at the classical level, and therefore they are
compatible with Poisson-Lie T-duality. In particular the conditions for
conformal invariance are automatically preserved, rendering also the dual model
conformal. The boundary conditions are defined in terms of a gluing matrix
which encodes the properties of D-branes, and we derive the duality map for
this matrix. We demonstrate explicitly the implications of this map for
D-branes in two non-Abelian Drinfel'd doubles.Comment: 20 pages, Latex; v2: typos and wording corrected, references added;
v3: three-dimensional example added, reference added, discussion clarified,
published versio
