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The book discusses the potential of higher-order interactions to model real-world relational systems. Over the last decade, networks have emerged as the paradigmatic framework to model complex systems. Yet, as simple collections of nodes and links, they are intrinsically limited to pairwise interactions, limiting our ability to describe, understand, and predict complex phenomena which arise from higher-order interactions. Here we introduce the new modeling framework of higher-order systems, where hypergraphs and simplicial complexes are used to describe complex patterns of interactions among any number of agents. This book is intended both as a first introduction and an overview of the state of the art of this rapidly emerging field, serving as a reference for network scientists interested in better modeling the interconnected world we live in.