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In IPv4, the Address Resolution Protocol (ARP) and broadcasting are used to identify connected devices, whereas IPv6 does not utilize ARP or broadcasting. Instead, it employs the Neighbor Discovery Protocol, which uses ICMPv6 and multicast messages. The Neighbor Discovery Protocol consists of five types of messages: Router Solicitation, Router Advertisement, Neighbor Solicitation, Neighbor Advertisement, and Redirect messages. This protocol allows an IPv6 host to establish and maintain connections with other devices on the same network. When an IPv6 host joins a network, it initiates the discovery process by sending a Router Solicitation message to identify available IPv6-capable routers on the link.