Yongle Emperor
During the early reign of the Yongle Emperor, the territorial princes were restored of their positions. However, they were relocated away from the frontiers, and gradually stripped of their military power. With the subsequent policies enforced by the Yongle Emperor, the emperor was successful in consolidating the power of the central government. In 1426, the Xuande Emperor managed to force all of the territorial princes to renounce their remaining personal army after suppressing the rebellion of Zhu Gaoxu.