How did the Roman Empire prosper during the reign of Augustus?

The Five Good Emperors were Nerva, Trajan, Hadrian, Antonius Pius, and Marcus Aurelius. The reigns of these emperors were marked by a period of relative peace, stability, and prosperity for the Roman Empire, and this period as a sort of Golden Age for Roman society. During this period, the Five Good Emperors participated in a number of projects ranging from the construction of public structures to reaching peaceful agreements with people in the far-flung parts of the Roman Empire, ensuring that they left an enduring legacy behind.