Modern PRT concepts began around 1953 when Donn Fichter, a city transportation planner, began research on PRT and alternative transportation methods. In 1964, Fichter published a book which proposed an automated public transit system for areas of medium to low population density. One of the key points made in the book was Fichter's belief that people would not leave their cars in favor of public transit unless the system offered flexibility and end-to-end transit times that were much better than existing systems – flexibility and performance he felt only a PRT system could provide. Several other urban and transit planners also wrote on the topic and some early experimentation followed, but PRT remained relatively unknown.