..............................ACP..............................
    .                                                             .
    .         /-GRASP-flooding-\         ACP GRASP instance       .
    .        /                  \                                 A
    .    GRASP      GRASP      GRASP                              C
    .  link-local   unicast  link-local                           P
    .   multicast  messages   multicast                           .
    .   messages      |       messages                            .
    .      |          |          |                                .
    ...............................................................
    .      v          v          v    ACP security and transport  .
    .      |          |          |    substrate for GRASP         .
    .      |          |          |                                .
    .      |       ACP GRASP     |       - ACP GRASP              A
    .      |       loopback      |         loopback interface     C
    .      |       interface     |       - ACP-cert auth          P
    .      |         TLS         |                                .
    .   ACP GRASP     |       ACP GRASP  - ACP GRASP virtual      .
    .   subnet1       |       subnet2      interfaces             .
    .     TCP         |         TCP                               .
    .      |          |          |                                .
    ...............................................................
    .      |          |          |   ^^^ Users of ACP (GRASP/ASA) .
    .      |          |          |   ACP interfaces/addressing    .
    .      |          |          |                                .
    .      |          |          |                                A
    .      | ACP loopback interf.|      <- ACP loopback interface C
    .      |      ACP-address    |       - address (global ULA)   P
    .    subnet1      |        subnet2  <- ACP virtual interfaces .
    .  link-local     |      link-local  - link-local addresses   .
    ...............................................................
    .      |          |          |   ACP VRF                      .
    .      |     RPL-routing     | virtual routing and forwarding .
    .      |   /IP-Forwarding\   |                                A
    .      |  /               \  |                                C
    .  ACP IPv6 packets   ACP IPv6 packets                        P
    .      |/                   \|                                .
    .    IPsec/DTLS        IPsec/DTLS  - ACP-cert auth            .
    ...............................................................
             |                   |   Data Plane
             |                   |     
             |                   |     - ACP secure channel
         link-local        link-local  - encapsulation addresses
           subnet1            subnet2  - data plane interfaces
             |                   |
          ACP-Nbr1            ACP-Nbr2