Ab urbe condita

Behind them were stationed an equal number of companies, called principes, made up of men in the full vigour of life, all carrying shields and furnished with superior weapons. This body of thirty companies were called the antepilani.

Behind them were the standards under which were stationed fifteen companies, which were divided into three sections called vexillae, the first section in each was called the pilus, and they consisted of 180 men to every standard (vexillum). The first vexillum was followed by the triarii, veterans of proved courage; the second by the rorarii, or “skirmishers,” younger men and less distinguished; the third by the accensi, who were least to be depended upon, and were therefore placed in the rearmost line.