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able according already Anglo-Saxon Annals archers armor arms assembled attack battle battle of Murten Bern Bernese bishop burghers Burgundian camp campaign CAPITULARY Carolingian carroccio century Chap Charlemagne Charles Charles the Bold Chronicle combat command completely concept Confederation count count of Charolais Crusades decisive defeated defensive developed dismounted duke duke of Burgundy emperor Empire enemy English entire equipment fact feudal fiefs fight finally flank foot soldiers foot troops force formation formed fought Frankish Frederick French German Geschichte Henry History Hohenstaufen horseback horsemen horses Hungarians Hussites janissaries king kingdom knights Kohler lances large number later levy lord marksmen mercenaries Middle Ages military system milites ministeriales mounted moved Murten Normans obligated Otto peasants period position princes rear Roman Saxons scara Schwyz Sempach side siege sources spearmen spears strength Swabia Swiss Taborites tactics tion took unit vassals victory wagon Waitz warrior class weapons Widukind