Who were the Viking shield-maidens, legendary female warriors?

Aside from the more "traditional" roles that many women received in Viking societies, some were said to have been fierce warriors who took up arms. Who were the Viking shield-maidens, these Nordic s?

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Shield-maiden

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Shield-maiden

Design featuring a Viking Shieldmaiden. In the background is the Norse Vegvisir compass Wayfinder symbol., Runic Translation: Skjaldmaer /

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