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Feudalism arose in Europe during and after the reign of Charlemagne, during the period of about 750-1000 AD. This was a time when local conditions could arise requiring very quick intervention by military forces. An example of such a condition was a Viking raid, which could happen and be over in a few days.

The Carolingian Empire did not have the infrastructure to deal with such problems. Its military forces were designed to be assembled and put on extensive campaigns, which were planned and had logistical support. The new situation required a more decentralized approach as an alternative to a large, permanently maintained, standing army. This was achieved by assigning land to individual lords and knights, who were able to use it to support themselves and small groups of local soldiers.

There is a link to an article on feudalism below.

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Q: What were the causes of feudalism in medieval Europe?
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