The Ionian Revolt, and associated revolts in Aeolis, Doris, Cyprus and Caria, were military rebellions by several Greek regions of Asia Minor against Persian rule, lasting from 499 BC to 493 BC. At the heart of the rebellion was the dissatisfaction of the Greek cities of Asia Minor with the tyrants appointed by Persia to rule them, along with the individual actions of two Milesian tyrants, Histiaeus and Aristagoras. The cities of Ionia had been conquered by Persia around 540 BC, and thereafter were ruled by native tyrants, nominated by the Persian satrap in Sardis. In 499 BC, the tyrant of Miletus, Aristagoras, launched a joint expedition with the Persian satrap Artaphernes to conquer Naxos, in an attempt to bolster his position. The mission was a debacle, and sensing his imminent removal as tyrant, Aristagoras chose to incite the whole of Ionia into rebellion against the Persian king Darius the Great.