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
The Han dynasty took umbrage at the diplomats killed with her and saw this event as an act of rebellion. Emperor Wu sent a military campaign consisting of 2,000 soldiers led by General Han Qianqiu to quell the revolt. The general died in battle and the Han forces lost. The second campaign, led by the generals Lu Bode and Yang Pu, was dispatched by sea with 100,000 soldiers in the fall of 112 BC. They reached the city of Panyu, located in modern Guangzhou, in 111–110 BC and defeated the rebels.