This book provides a coherent introduction to Gutzwiller's trace formula accessible to well-prepared science, mathematics, and engineering students who have taken introductory courses in linear algebra, classical, and quantum mechanics. In addition to providing an enrichment of the undergraduate curriculum, this book may serve as the primary text for graduate courses on semiclassical methods. Since periodic-orbit expansions may be used to solve all types of wave systems that typically occur in mathematics, physics, and engineering, this book is attractive for professional scientists and engineers as well.