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A pikeman was a member of the guards in San Martino in 1492. When the Fourth Doctor escaped from being executed, he and the other guards gave chase. When the Doctor went into the catacombs, his fellow told him not to go in, because he had known many who had tried, and were not heard from again.
He and his fellow later managed to capture the Doctor and Sarah Jane Smith at the entrance to the catacombs, and brought him to the Duke Giuliano. (TV: The Masque of Mandragora)