All rights reserved. No part ofthis publication may be reproduced, stored in a retrieval system or transmitted in any form or by any means, mechanical, photo-copying, recording, or otherwise, without the prior written permission ofthe publisher, Springer Science+Business Media, LLC.Printed on acidfree paper. The Publisher offers discounts on this book for course use and bulk purchases. For further information, send email to . The cover art shows a 3D synthetic environment 0/ part 0/ the US Marine Corps' Military Operations in Urban Terrain /acility at Camp LeJeune, NC This synthetic environment was generated /rom a commercial-off-the-shelf database management system and VPF+. VPF+ adds 3D topology to the National Imagery and Mapping Agency's Vector Product Format standard and is the result 0/ research by the Naval Research Laboratory and the University 0/ New Orleans.