Doom of Three Planets

The planet Golcorra remains hidden from its enemies by means of a time warp. One of their raider ships captured Earthling Matt Clayton. When he became the lover of Princess Lura, he learned from her the sedcret of the warp.

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Now, to escape and warn his homeworld if its danger, he must locate a legendary race known as the "Old Ones." This turns out to be a quest filled with bizarre dangers, and creatures out of legend.