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In page Sahel:

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The Sahelian kingdoms were a series of monarchies centered in the Sahel between the 9th and 18th centuries. The wealth of the states, like the legendary Mali Empire at the time of Mansa Musa, came from controlling the trans-Saharan trade routes across the desert, especially with the Maghreb. Their power came from having large pack animals like camels and horses that were fast enough to keep a large empire under central control and were also useful in battle. All of these empires were quite decentralized with member cities having a great deal of autonomy.[citation needed]