The Ionian Revolt and associated revolts in Aeolis, Doris, Cyprus, and Caria were military rebellions by several regions of Asia Minor against Persian rule, lasting from 499 to 493 BC. At the heart of the rebellion was the dissatisfaction of the Greek cities of Asia Minor with the tyrants appointed by Persia to rule them, along with opposition to the individual actions of two Milesian tyrants, Histiaeus and Aristagoras. In 499 BC the then tyrant of Miletus, Aristagoras, launched a joint expedition with the Persian satrap Artaphernes to conquer Naxos, in an attempt to bolster his position in Miletus (both financially and in terms of prestige). The mission was a debacle, and sensing his imminent removal as tyrant, Aristagoras chose to incite the whole of Ionia into rebellion against the Persian king Darius the Great.