Distributed virtual environments (DVEs) combine technology from 3D graphics, virtual reality and distributed systems to provide an interactive 3D scene that supports multiple participants. Each participant has a representation in the scene, often known as an avatar, and is free to navigate through the scene and interact with both the scene and other viewers of the scene. Changes to the scene, for example, position changes of one avatar as the associated viewer navigates through the scene, or changes to objects in the scene via manipulation, are propagated in real time to all viewers. This ensures that all viewers of a shared scene `see' the same representation of it, allowing sensible reasoning about the scene.

Early work on such environments was restricted to their use in simulation, in particular in military simulation. However, over recent years a number of interesting and potentially far-reaching attempts have been made to exploit the technology for a range of other uses, including:

• Social spaces. Such spaces can be seen as logical extensions of the familiar text chat space. In 3D social spaces avatars, representing participants, can meet in shared 3D scenes and in addition to text chat can use visual cues and even in some cases spatial audio.

• Collaborative working. A number of recent projects have attempted to explore the use of DVEs to facilitate computer-supported collaborative working (CSCW), where the 3D space provides a context and work space for collaboration.

• Gaming. The shared 3D space is already familiar, albeit in a constrained manner, to the gaming community. DVEs are a logical superset of existing 3D games and can provide a rich framework for advanced gaming applications.

• e-commerce. The ability to navigate through a virtual shopping mall and to look at, and even interact with, 3D representations of articles has appealed to the e-commerce community as it searches for the best method of presenting merchandise to electronic consumers.

The technology needed to support these systems crosses a number of disciplines in computer science. These include, but are certainly not limited to, real-time graphics for the accurate and realistic representation of scenes, group communications for the efficient update of shared consistent scene data, user interface modelling to exploit the use of the 3D representation and multimedia systems technology for the delivery of streamed graphics and audio-visual data into the shared scene.

It is this intersection of technologies and the overriding need to provide visual realism that places such high demands on the underlying distributed systems infrastructure and makes DVEs such fertile ground for distributed systems research. Two examples serve to show how DVE developers have exploited the unique aspects of their domain.

Communications. The usual tension between latency and throughput is particularly noticeable within DVEs. To ensure the timely update of multiple viewers of a particular scene requires that such updates be propagated quickly. However, the sheer volume of changes to any one scene calls for techniques that minimize the number of distinct updates that are sent to the network. Several techniques have been used to address this tension; these include the use of multicast communications, and in particular multicast in wide-area networks to reduce actual message traffic. Multicast has been combined with general group communications to partition updates to related objects or users of a scene. A less traditional approach has been the use of dead reckoning whereby a client application that visualizes the scene calculates position updates by extrapolating movement based on previous information. This allows the system to reduce the number of communications needed to update objects that move in a stable manner within the scene.

Scaling. DVEs, especially those used for social spaces, are required to support large numbers of simultaneous users in potentially large shared scenes. The desire for scalability has driven different architectural designs, for example, the use of fully distributed architectures which scale well but often suffer performance costs versus centralized and hierarchical architectures in which the inverse is true. However, DVEs have also exploited the spatial nature of their domain to address scalability and have pioneered techniques that exploit the semantics of the shared space to reduce data updates and so allow greater scalability. Several of the systems reported in this special issue apply a notion of area of interest to partition the scene and so reduce the participants in any data updates. The specification of area of interest differs between systems. One approach has been to exploit a geographical notion, i.e. a regular portion of a scene, or a semantic unit, such as a room or building. Another approach has been to define the area of interest as a spatial area associated with an avatar in the scene.

The five papers in this special issue have been chosen to highlight the distributed systems aspects of the DVE domain. The first paper, on the DIVE system, described by Emmanuel Frécon and Mårten Stenius explores the use of multicast and group communication in a fully peer-to-peer architecture. The developers of DIVE have focused on its use as the basis for collaborative work environments and have explored the issues associated with maintaining and updating large complicated scenes. The second paper, by Hiroaki Harada et al, describes the AGORA system, a DVE concentrating on social spaces and employing a novel communication technique that incorporates position update and vector information to support dead reckoning. The paper by Simon Powers et al explores the application of DVEs to the gaming domain. They propose a novel architecture that separates out higher-level game semantics - the conceptual model - from the lower-level scene attributes - the dynamic model, both running on servers, from the actual visual representation - the visual model - running on the client. They claim a number of benefits from this approach, including better predictability and consistency. Wolfgang Broll discusses the SmallView system which is an attempt to provide a toolkit for DVEs. One of the key features of SmallView is a sophisticated application level protocol, DWTP, that provides support for a variety of communication models. The final paper, by Chris Greenhalgh, discusses the MASSIVE system which has been used to explore the notion of awareness in the 3D space via the concept of `auras'. These auras define an area of interest for users and support a mapping between what a user is aware of, and what data update rate the communications infrastructure can support.

We hope that this selection of papers will serve to provide a clear introduction to the distributed system issues faced by the DVE community and the approaches they have taken in solving them. Finally, we wish to thank Hubert Le Van Gong for his tireless efforts in pulling together all these papers and both the referees and the authors of the papers for the time and effort in ensuring that their contributions teased out the interesting distributed systems issues for this special issue.

† E-mail address: rodger@arch.sel.sony.com