Mathematical modal logic: A view of its evolution

This is a survey of the origins of mathematical interpretations of modal logics, and their development over the last century or so. It focuses on the interconnections between algebraic semantics using Boolean algebras with operators and relational semantics using structures often called Kripke models. It reviews the ideas of a number of people who independently contributed to the emergence of relational semantics, and compares them with the work of Kripke. It concludes with an account of several applications of modal model theory to mathematics and theoretical computer science.