The history of the Roman Empire covers the history of Ancient Rome from the fall of the Roman Republic in 27 BC until the abdication of the last Emperor in 476 AD. Rome had begun expanding shortly after the founding of the Republic in the 6th century BC, though didn't expand outside of Italy until the 3rd century BC. Civil war engulfed the Roman state in the mid 1st century BC, first between Julius Caesar and Pompey, and finally between Octavian and Mark Antony. Antony was defeated at the Battle of Actium in 31 BC. In 27 BC the Senate and People of Rome made Octavian imperator ("commander") thus beginning the Principate (the first epoch of Roman imperial history, usually dated from 27 BC to 284 AD), and gave him the name Augustus ("the venerated"). The success of Augustus in establishing principles of dynastic succession was limited by his outliving a number of talented potential heirs: the Julio-Claudian dynasty lasted for four more emperors—Tiberius, Caligula, Claudius, and Nero—before it yielded in 69 AD to the strife-torn Year of Four Emperors, from which Vespasian emerged as victor. Vespasian became the founder of the brief Flavian dynasty, to be followed by the Nerva–Antonine dynasty which produced the "Five Good Emperors": Nerva, Trajan, Hadrian, Antoninus Pius and the philosophically inclined Marcus Aurelius. In the view of the Greek historian Dio Cassius, a contemporary observer, the accession of the emperor Commodus in 180 AD marked the descent "from a kingdom of gold to one of rust and iron"—a famous comment which has led some historians, notably Edward Gibbon, to take Commodus' reign as the beginning of the decline of the Roman Empire.