Complex sentence: Robb, Sansa, Arya, Rickon and his father's illegitimate son Jon Snow--and is constantly accompanied by his direwolf, Summer, with whom he shares a strong connection.
Split into simpler sentences: Robb, Sansa, Arya, Rickon and his father's illegitimate son Jon Snow. Like his brothers and sisters, Bran is constantly accompanied by his direwolf, Summer, with whom he shares a strong connection.