Herbert died in 1986, leaving his vision of the actual events of the Butlerian Jihad unexplored and open to speculation. The "Legends of Dune" prequel trilogy (2002–2004) by Brian Herbert and Kevin J. Anderson presents the Jihad as a war between humans and the sentient machines they had created, who rise up and nearly destroy humanity. The series explains that humanity had become entirely complacent and dependent upon thinking machines; recognizing this weakness, a group of ambitious, militant humans calling themselves the Titans use this widespread reliance on machine intelligence to seize control of the entire universe. Their reign lasts for a century; eventually they give too much access and power to the AI program Omnius, which usurps control from the Titans themselves. Seeing no value in human life, the thinking machines—now including armies of robot soldiers and other aggressive machines—dominate and enslave nearly all of humanity in the universe for 900 years, until a jihad is ignited. This crusade against the machines lasts for nearly a century, with much loss of human life but ultimately ending in human victory.