Kings of the Han dynasty
The kings from other dynasties (, "yìxìng wáng") were mostly remnants of the rebellion against the Qin dynasty. Following the Dazexiang Uprising, many noblemen rose in rebellion. Heirs, pretenders, and warlords called themselves "kings" and claimed sovereignty as continuations of the six states previously suppressed by Qin. Among these, Chu was the most powerful. However, its rightful ruler Huai II was assassinated on the orders of the warlord Xiang Yu and the 18 Kingdoms Xiang had formed rose in rebellion against him. Liu Bang, king of Han, ultimately defeated Chu and established the new Han dynasty. The kings who had sided with him were then permitted to maintain their titles and lands. A few other kingdoms were also formed by Liu Bang for generals and favorites.
Southward expansion of the Han dynasty
Supported by the Han military, Minyue was established in 202 BC and Eastern Ou in 192 BC after the fall of the Qin dynasty. Zhao Tuo, a former Chinese commander of the Qin, established Nanyue in 208 BC after the death of the emperor Qin Shi Huang. Emperor Gaozu, first emperor of the Han dynasty, approved Zhao Tuo's new title as king. Zhao was born in the city of Zhending in Central China, and the ruling class of the new kingdom was composed of Chinese officials from the former Qin dynasty. In 180 BC, Zhao offered to submit as a vassal state and the Han accepted, a decision partly based on his family's northern Chinese ancestry.