The VPN client agent was unable to create the interprocess communication depot

Here are the steps to resolve the problem:

1. Press Win + R
2. Type: services.msc and press Enter
3. Find Internet Connection Sharing (ICS)
4. Stop the service
5. Right-click and open the service's Properties
6. Change the Startup type: to Disabled
7. Reboot the computer
8. Install Cisco AnyConnect VPN

To resolve this issue on Windows 7:

1. Click the Windows Start button.
2. Click on Control Panel.
3. Set View by: to Category.
4. Click on View network status and tasks under Network and Internet.
5. Click on Change adapter settings.
6. Look for Shared in the Status column in the Network Connections window and right-click that device (e.g. Ethernet adapter, WiFi adapter) and click Properties.
7. Click the Sharing tab.
8. Clear the Allow other network users to connect through this computer’s Internet connection check box.
9. Click OK.
10. Reinstall Cisco AnyConnect.

These instructions may not be accurate for other versions of Windows besides 7.