sentences:  Undeterred by this, and following the 1461 seizure of the throne by the Yorkist King Edward IV (1461–1483) from the Lancastrian King Henry VI (1422–1461), the Tudors claimed precedence to the Yorks the last of whom, King Richard III was killed at the Battle of Bosworth in 1485.The present Somerset family, Dukes of Beaufort, of Badminton House in Gloucestershire, are illegitimate direct male descendants of John of Gaunt, being illegitimate descendants of Henry Beaufort, 3rd Duke of Somerset, first cousin of Margaret Beaufort (1443–1509).They assumed "Somerset" as their family surname, but bear as arms the ancient arms of the Beaufort family