Natural satellite been directly observed, have been called "moonlets". Small asteroid moons (natural satellites of asteroids), such as Dactyl, have also been called moonlets. The upper limit is also vague. Two orbiting bodies are sometimes described as a double planet rather than primary and satellite. Asteroids such as 90 Antiope are considered double asteroids, but they have not forced a clear definition of what constitutes a moon. Some authors consider the Pluto–Charon system to be a double (dwarf) planet. The most common dividing line on what is considered a moon rests upon whether the barycentre is below the surface of the larger
Dwarf planet 6a of 2006 recognizes Pluto as "the prototype of a new category of trans-Neptunian objects". The name and precise nature of this category were not specified but left for the IAU to establish at a later date; in the debate leading up to the resolution, the members of the category were variously referred to as "plutons" and "plutonian objects" but neither name was carried forward, perhaps due to objections from geologists that this would create confusion with their "pluton". On June 11, 2008, the IAU Executive Committee announced a name, "plutoid", and a definition: all trans-Neptunian dwarf planets are plutoids.