Roman Italy is the period of ancient Italian history going from the founding and rise of Rome to the decline and fall of the Western Roman Empire; the Latin name of the Italian peninsula in this period was Italia. According to Roman mythology, Italy was the ancestral home of Aeneas, being the homeland of the Trojans progenitor, Dardanus; Aeneas, instructed by Jupiter, moved to Italy after the fall of Troy, and his descendants, Romulus and Remus, were the founders of Rome. Aside from the legendary accounts, Rome was an Italic city-state that changed its form of government from Kingdom to Republic, and then grew within the context of a peninsula dominated by the Gauls, Ligures, Veneti, Camunni and Histri in the North; the Etruscans, Latins, Falisci, Picentes, Umbri and Sabines in the Centre; and the Iapygian tribes, the Oscan tribes and Greek colonies in the South.