SB 9.23.27
tasya putra-sahasresu
pañcaivorvarita mrdhe
jayadhvajah suraseno
vrsabho madhur urjitah
Translation by His Divine Grace A. C. Bhaktivedanta Swami Srila Prabhupada:
Of the one thousand sons of Kartaviryarjuna, only five remained alive after the fight with Parasurama. Their names were Jayadhvaja, Surasena, Vrsabha, Madhu and Urjita.