Srimad-Bhagavatam: Canto 9 - Chapter 1 - Verse 27
Sanskrit:
तस्य पुत्रसहस्रेषु पञ्चैवोर्वरिता मृधे ।जयध्वज: शूरसेनो वृषभो मधुरूर्जित: ॥ २७ ॥
ITRANS:
tasya putra-sahasreṣupañcaivorvaritā mṛdhejayadhvajaḥ śūrasenovṛṣabho madhur ūrjitaḥ
Translation:
Of the one thousand sons of Kārtavīryārjuna, only five remained alive after the fight with Paraśurāma. Their names were Jayadhvaja, Śūrasena, Vṛṣabha, Madhu and Ūrjita.