 Complete the following phrase:  In the 16th and 17th centuries the Odoyevsky family served at the Moscow court as boyars and voivodes. The house produced 13 boyars. The voivodes from the Odoyevsky family participated in many battles of the 16th century, and were especially notable in the battles with the Tatars and in the 1552 Kazanian Campaign of Ivan the Terrible. Prince Nikita Romanovich Odoevsky d. 1573 entered the Oprichnina of 15651572. As a boyar and a member of the Oprichnina, he served as a leader in many battles. He was the voivode at the 