Complex sentence: Hiriya Venkatappa Nayaka (1586-1629) is considered by scholars as ablest monarch of the clan who completely freed himself of overlordship of the relocated Vijayanagar rulers of Penugonda.
Split into simpler sentences: Hiriya Venkatappa Nayaka (1586-1629) is considered by scholars as ablest monarch of the clan. He completely freed himself from the overlordship of the relocated Vijayanagar rulers of Penugonda.