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Introduction
The first version of the IPsec RFCs in 1995 didn't include any dynamic key management: the security parameters were configured manually.
Manual IPsec is limited both in security and scalability.
Work on key management really started in 1995/1996.
The second version of the IPsec RFCs, which was published in November 1998, includes the definition of the IKE (Internet Key Exchange) protocol.
This protocol is still maturing and being completed (various Internet Drafts are available).