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We introduce the notion of higher dimensional transition systems as a model of concurrency providing an elementary, set-theoretic formalisation of the idea of higher dimensional transition. We show an embedding of the category of higher dimensional transition systems into that of higher dimensional automata which cuts down to an equivalence when we restrict to non-degenerate automata. Moreover, we prove that the natural notion of bisimulation for such structures is a generalisation of the strong history preserving bisimulation, and provide an abstract categorical account of it via open maps. Finally, we define a notion of unfolding for higher dimensional transition systems and characterise the structures so obtained as a generalisation of event structures.