Urban design involves the arrangement, appearance, and function of cities and their public spaces. It coordinates all elements that make up cities, including buildings, transportation networks, public spaces, and landscaping. Throughout history, cities have taken different forms. Ancient Greek cities often had an acropolis, agora, and irregular streets in older cities but grid plans in newer colonies. Elements like streets, squares, landmarks, and districts guide how people experience and navigate urban areas. Urban design aims to create lively, safe, and sustainable city environments for residents.