In 1969–70, Yoichiro Nambu, Holger Bech Nielsen, and Leonard Susskind recognized that the theory could be given a description in space and time in terms of strings. The scattering amplitudes were derived systematically from the action principle by Peter Goddard, Jeffrey Goldstone, Claudio Rebbi, and Charles Thorn, giving a space-time picture to the vertex operators introduced by Veneziano and Fubini and a geometrical interpretation to the Virasoro conditions.