ICMP Internet Router Discovery Protocol (IRDP) uses Internet Control Message Protocol (ICMP) router advertisements and router solicitation messages to allow a host to discover the addresses of operational routers on the subnet.
It basically consists of 2 Message-Types (see this list) used for discovering local routers. The message type 9 is sent periodically or on request (using a message of type 10) to the local subnet from the local router(s) to propagate themselves. On boot, the client may send a ICMP-Message of type 10 to ask for local routers. When a client receives a message type 9, they add the router to their local routing table.
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“Next to the striking of fire and the discovery of the wheel, the greatest triumph of what we call civilization was the domestication of the human male.”
—Max Lerner (b. 1902)