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 history. On March 6, 2015, the "Dawn" spacecraft began to orbit Ceres, becoming the first spacecraft to orbit a dwarf planet. On July 14, 2015, the "New Horizons" space probe flew by Pluto and its five moons. Dawn has also explored the former dwarf planet Vesta. Phoebe has been explored by Cassini (most recently) and Voyager 2, which also explored Triton. These three are thought to be former dwarf planets and therefore their exploration helps in the study of the evolution of dwarf planets. In the immediate aftermath of the IAU definition of dwarf planet, some scientists expressed their disagreement