This is a personal story about being involved in the study of nonlinear phenomena for more than half a century. The focus is on the development of ideas and the resulting knowledge. This is the visible part of research, but much is usually hidden. The author describes how the ideas were generated and how an "invisible college" of friends and colleagues has emerged. The presentation is spiced by thoughts about the beauty of science and philosophical considerations on the complex world, where nonlinear interactions play an important role. The book is in some sense a biography but not so much about the personal life of the author - it is about science and its actors. Based on the author's experience in many European research centres and science policy institutions, it reflects on the development of knowledge in nonlinear dynamics as well as science policy actions over the second half of the 20th century and the first quarter of the 21st century. Graduates and postgraduates interested in the progress of research will find the book particularly engaging.