Which country first explored the Atlantic coast of Africa in the 1400s, and soon thereafter established plantation slavery on the Atlantic islands off the African coast?

Question

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Portugal was the first European country to explore the Atlantic coast of Africa in the 1400s, and they soon established plantation slavery on the Atlantic islands off the African coast, such as the Azores and Madeira. This was part of their larger efforts to build an empire in Africa and Asia.

Which Country First Explored the Atlantic Coast of Africa in the 1400s