Although the town was under Habsburg control, there were still the beginnings of an independent polity. In the 1350s Brugg agreed to association, or "Burgrecht", treaties with Baden and Mellingen (1351) and with the Cloister of Wittichen in the upper Kinzig Valley (1353). The departments of Bözburg and Eigenamt, upon their reversion of Habsburg control in 1364, also fell under the military leadership of the town. During this time the Austrians regularly assembled their armed forces in Brugg, as Duke Leopold III did in 1386 prior to the Battle of Sempach.