Timgad a Roman military colony in modern Algeria is one of the most intact ancient cities. Its ruins exemplify how Roman settlements were laid out, functioned, and developed over time.
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My video on Dougga, Tunisia:    • Dougga: the Pompeii of Roman Africa  

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Chapters:
0:00 Introduction
1:00 Principles of urban planning
1:38 Streets and houses
2:19 The forum
4:07 The theater
5:04 Thorum
6:15 Urban expansion
6:47 The Capitolium
7:16 Markets
8:02 Baths
8:41 Churches
9:39 Late antiquity