Polyphony or multi-voiced music with each voice or instrument playing complimentary but different melodies at the same time was very fashionable in the 1500-1700's. Much of polyphony was imitative in nature such as canons or fugues. Motives or melodic ideas were imitated throughout the piece sometimes directly a few bars apart as in a Canon or even beginning on a different starting pitch as in a Fugue.
The simplest of this type of imitation canon is called a Round. Think of "Row Row Row Your Boat" or "Three Blind Mice." The short melody is faithfully imitated in three different voices one measure apart.
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