The Hōjō clan, in and around the Kantō region, were among the first to establish networks of satellite castles, and the complex use of these castles both for mutual defense and coordinated attacks. The Takeda, under Takeda Shingen, developed the Japanese equivalent of the cavalry charge. Though debate continues today as to the force of his charges, and the appropriateness of comparing them to Western cavalry charges, it is evident from contemporary sources that it was a revolutionary development, and powerful against defenders unused to it. The Battles of the Sengoku period of particular interest or significance are too numerous to list here. Suffice to say this period saw a myriad of strategic and tactical developments, and some of the longest sieges and largest battles in the history of the early modern world.