In the years following Cannae, striking reforms were introduced to address these deficiencies. First, the Romans "articulated the phalanx, then divided it into columns, and finally split it up into a great number of small tactical bodies that were capable, now of closing together in a compact impenetrable union, now of changing the pattern with consummate flexibility, of separating one from the other and turning in this or that direction." For instance, at Ilipa and Zama, the "principes" were formed up well to the rear of the "hastati"—a deployment that allowed a greater degree of mobility and maneuverability. The culminating result of this change marked the transition from the traditional manipular system to the cohort under Gaius Marius, as the basic infantry unit of the Roman army.