 Complete the following phrase:  After the death of Bryachislav Vladimir, Monomakh gave the Turov principality to his Vyacheslav who kept it until the middle of the 12th century. Around the 1150s Turov belonged to the descendants of Yuri Dolgoruki Andrei and Boris. Finally in 1162 the principality was passed by Yuri Dolgoruki back to one of the Izyaslavichi Yury Yaroslavich, grandson of Svyatopolk II of Kiev, who gained full independence from Kievan Rus. However, at the same time the Principality became more and more divided between several sons of the duke Yury. A semi-independent Principality of Pinsk was created. Along with the Principality of Smolensk, the army of Turau participated in the 