We report heat transport measurements and optical shadowgraph visualization of rotating Rayleigh-Benard convection. For dimensionless rotation rates 140 < Ct < 4300, the initial transition to convection, occurring at a Rayleigh number R much less than the linear-stability value for roll or vortex states, is a forward Hopf bifurcation to an azimuthally asymmetric state with mode number n. States with n =3, 4, 5, 6, and 7 exist at low to moderate R and precess with frequencies that depend on R and ft. At higher R there is a continuous transition to a state with noisy, time-dependent heat transport, a distinct array of vortices in the central region, and a modulation of the precession speed of the outer structures. 47.25.Ae The combination of thermally induced buoyancy and of a Coriolis force is fundamental to many problems in geophysical fluid dynamics, in astrophysics, and in the study of nonlinear instabilities involving multiple control parameters. An important question is how turbulent states evolve in these systems. Here we present experimental results for a horizontal layer of fluid heated from below and rotated about a vertical axis, which may be regarded as an idealization of the problems mentioned above. For this case, it is known that convection is suppressed by the rotation, and at large rotation rates heat is predicted to be transported by vortex structures rather than by convection rolls [1,2]. Our experimental results are based on shadowgraph flow visualization and heat transport measurements for a cylindrical sample of radius-to-height ratio r = l. As the temperature difference AT is increased quasistatically, the measurements show that for ft =2145 the conductive state loses stability to a mode of fivefold azimuthal symmetry with amplitude maxima localized near the lateral wall. Modes with fourfold, fivefold, and sevenfold symmetry can also be created by using different time histories of AT. We find that the first bifurcation is a Hopf bifurcation to a time-periodic state in which the convective structure precesses in the rotating frame. The spatial symmetry of our pattern agrees qualitatively with a recent linear-stability analysis [3]; but in the theoretical work it was assumed that the structure would be stationary in the rotating frame. An interesting aspect of this instability in the finite system, noticed also in previous heat transport experiments [4,5], is that it occurs at a smaller value of A7" than the predicted value for the infinite system. This contrasts with the usual situation, where finite-size effects stabilize the conduction state.As AT is increased well beyond the first bifurcation point AT C , we find that the maxima of the flow field, which close to onset were localized near the lateral walls, develop spiral arms that reach into the cell interior and, with increasing AT 7 , form vortices with an initial spatial arrangement which retains the rt-fold symmetry of the states close to onset. Upon further increase of AT, the vortex structure becomes aperiodically time dependent a...