Ars Theurgia Goetia, the second grimoire of The Lesser Key of Solomon, contains 31 chief spirits and the names of many of the dukes that serve them. Unlike Ars Goetia, the first grimoire of The Lesser Key of Solomon, which has descriptions of the forms and capabilities of the demons described, Ars Theurgia Goetia mainly focuses on the names, seals, and conjurations that call forth the spirits.
Chief spirits
There are 31 chief spirits mentioned in the grimoire: four emperors for each of the four directions, sixteen kings and eleven wandering princes. The kings are lower than their corresponding emperor but are still considered chief spirits.
Servant dukes
Each chief spirit has many servant dukes (except Pirichiel, who has knights instead of dukes). However, only a few are named. Alternate spellings are included in brackets as different copies of the book may contain slightly different spelling.
Sources
J. B. Hare, online edition (2002, sacred-texts.com) Joseph H. Peterson, online edition (1999)