From the earliest time, guards have been used to control access to certain areas. Guards are people and, however conscientious, they are forgetful, bribable, coercible or just plain inefficient. The introduction of the key and lock provided the first automated assistance to control access and, despite the ingenuity of locksmiths, keys can be stolen, duplicated or lost and locks can be picked.
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Chris Jennings (1992) studied this question.