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The emperor Constantine I (ruled 312–37), who established the first large-scale comitatus (imperial escort army) and divided the army into escort army (comitatenses) and border (limitanei) troops, giving the late Roman army the structure described in the Notitia Dignitatum. Bust in Musei Capitolini, Rome
Palatini – were elite units of the late army. Pedites – The infantry of the early army of the Roman kingdom. The majority of the army in this period. Peditatus – A term referring to any infantryman in the Roman Empire. Pilus Prior – Senior centurion of a cohort. Pilus Posterior – Deputy to the pilus prior.
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In the Late Roman Empire the army was divided into two major units, the limitanei border guards and mobile armies consisting of comitatenses. The limitanei would deal with smaller raids, or, in the case of larger invasions, try to defend or stall long enough for the comitatenses legions to arrive.
The Roman Empire in AD 125, in the time of emperor Hadrian, showing the Roman provinces and legions deployed. This article lists auxilia, non-legionary auxiliary regiments of the imperial Roman army, attested in the epigraphic record, by Roman province of deployment during the reign of emperor Hadrian (r. AD 117–138).
The high command structure of the West Roman army c. 410–425, based on the Notitia Dignitatum. Magister militum (Latin for "master of soldiers"; pl.: magistri militum) was a top-level military command used in the late Roman Empire, dating from the reign of Constantine the Great. The term referred to the senior military officer (equivalent to ...
The Marian reforms were putative changes to the composition and operation of the Roman army during the late Roman Republic usually attributed to Gaius Marius (a general who was consul in 107, 104–100, and 86 BC [12]). The most important of those putative changes concerned the altering of the socio-economic background of the soldiery.
[1] At the highest level of structure, the forces were split into the Roman army and the Roman navy, although these two branches were less distinct than in many modern national defense forces. Within the top levels of both army and navy, structural changes occurred as a result of both positive military reform and organic structural evolution.