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 promised by Jupiter to Aeneas of Troy and his descendants, Romulus and Remus, who 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, Sabines in the Centre, and the Iapygian tribes, the Oscan tribes, and Greek colonies in the South.