  We give an explicit recursive formula for the all L-loop integrand for
scattering amplitudes in N=4 SYM in the planar limit, manifesting the full
Yangian symmetry of the theory. This generalizes the BCFW recursion relation
for tree amplitudes to all loop orders, and extends the Grassmannian duality
for leading singularities to the full amplitude. It also provides a new
physical picture for the meaning of loops, associated with canonical operations
for removing particles in a Yangian-invariant way. Loop amplitudes arise from
the "entangled" removal of pairs of particles, and are naturally presented as
an integral over lines in momentum-twistor space. As expected from manifest
Yangian-invariance, the integrand is given as a sum over non-local terms,
rather than the familiar decomposition in terms of local scalar integrals with
rational coefficients. Knowing the integrands explicitly, it is straightforward
to express them in local forms if desired; this turns out to be done most
naturally using a novel basis of chiral, tensor integrals written in
momentum-twistor space, each of which has unit leading singularities. As simple
illustrative examples, we present a number of new multi-loop results written in
local form, including the 6- and 7-point 2-loop NMHV amplitudes. Very concise
expressions are presented for all 2-loop MHV amplitudes, as well as the 5-point
3-loop MHV amplitude. The structure of the loop integrand strongly suggests
that the integrals yielding the physical amplitudes are "simple", and
determined by IR-anomalies. We briefly comment on extending these ideas to more
general planar theories.
