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Source: Kings of the Han dynasty

After Liu Bang defeated Xiang Yu and proclaimed himself emperor of the Han dynasty, he followed the practice of Xiang Yu and enfeoffed many generals, noblemen, and imperial relatives as kings (Chinese: 王; pinyin: wáng), the same title borne by the sovereigns of the Shang and Zhou dynasties and by the rulers of the Warring States. Each king had his own semi-autonomous kingdom. This was a departure from the policy of the Qin dynasty, which divided China into commanderies governed by non-hereditary governors.
The kings were divided into two groups: yìxìng wáng, literally "kings of different surnames", and tóngxìng wáng, literally "kings of the same surname", i.e., the imperial surname Liu. All of the initial kings were yixing wang, with many tongxing wang being created on former territories of removed yixing wang. The yixing wang represented an obvious threat to the Han empire, and Liu Bang and his successors suppressed them as quickly as was practical: they had disappeared by 157 BC. The tongxing wang were originally left to their own devices but, after the Rebellion of the Seven States in 154 BC, their independence was curtailed. Eventually they lost most of their autonomy. For this reason, the title is also translated as "prince" when referring to later kings of the dynasty, to reflect both their link to the ruling house and the vestigial nature of the former vassal kingdoms.