Is the Cisco VPN an implementation of some standard protocol?

I know that the ShrewSoft VPN client is able to connect to a Cisco VPN server (I know this because I use it - to bypass the Disallow local LAN access restriction).

Is ShrewSoft VPN, along with Cisco VPN, an implementation of some standard VPN protocol (IPsec + Pre-shared key + XAuth). Or is Cisco VPN a proprietary protocol that ShrewSoft reverse engineered?

Longer story short: would Windows, or a router, be able to connect to a Cisco VPN server using the same protocol that Cisco is?

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Related: superuser.com/questions/50613/… – Billy ONeal Jul 20 '11 at 19:53
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