diff --git a/.github/workflows/build.yaml b/.github/workflows/build.yaml
index 24c086bb8..d994e4c2c 100644
--- a/.github/workflows/build.yaml
+++ b/.github/workflows/build.yaml
@@ -20,7 +20,7 @@ jobs:
       fail-fast: false
       matrix:
         platform:
-          - ubuntu-latest
+          - ubuntu-22.04 # Maintain compatibility down to Ubuntu 22.04.
           - macos-latest
           - windows-latest
     steps:
diff --git a/.github/workflows/test.yaml b/.github/workflows/test.yaml
index 0a4a402e7..ee76830a2 100644
--- a/.github/workflows/test.yaml
+++ b/.github/workflows/test.yaml
@@ -14,12 +14,12 @@ on:
 
 jobs:
   test-plugins:
-    name: Test plugins on ${{ matrix.os }}
-    runs-on: ${{ matrix.os }}
+    name: Test plugins for ${{ matrix.platform }}
+    runs-on: ${{ matrix.platform }}
     strategy:
       fail-fast: false
       matrix:
-        os:
+        platform:
           - ubuntu-latest
           - macos-latest
           - windows-latest
@@ -39,7 +39,7 @@ jobs:
 
       - name: Test plugins
         working-directory: plugins
-        run: bazel test --test_output=errors //...
+        run: bazel test -c opt --test_output=errors //...
 
   test-all-modes:
     name: Test in ${{ matrix.testMode }}
@@ -56,6 +56,17 @@ jobs:
         with:
           persist-credentials: false
 
+      - name: Free disk space
+        uses: jlumbroso/free-disk-space@v1.3.1
+        with:
+          tool-cache: false
+          android: true
+          dotnet: true
+          haskell: true
+          large-packages: true
+          docker-images: false # Unity test runner uses Docker.
+          swap-storage: false
+
       - uses: actions/cache@v6
         with:
           path: Library
diff --git a/Assets/Plugins/assignment.dll b/Assets/Plugins/assignment.dll
index 15471df88..7a43bc960 100755
Binary files a/Assets/Plugins/assignment.dll and b/Assets/Plugins/assignment.dll differ
diff --git a/Assets/Plugins/libassignment.dylib b/Assets/Plugins/libassignment.dylib
index 310bdd0a9..3d22f3673 100755
Binary files a/Assets/Plugins/libassignment.dylib and b/Assets/Plugins/libassignment.dylib differ
diff --git a/Assets/Plugins/libprotobuf.dylib b/Assets/Plugins/libprotobuf.dylib
index b44b02c91..d7d333f39 100755
Binary files a/Assets/Plugins/libprotobuf.dylib and b/Assets/Plugins/libprotobuf.dylib differ
diff --git a/Assets/Plugins/libprotobuf.so b/Assets/Plugins/libprotobuf.so
index 14a5194c5..7574e38db 100755
Binary files a/Assets/Plugins/libprotobuf.so and b/Assets/Plugins/libprotobuf.so differ
diff --git a/Assets/Plugins/protobuf.dll b/Assets/Plugins/protobuf.dll
index 3538e5315..2226a1aae 100755
Binary files a/Assets/Plugins/protobuf.dll and b/Assets/Plugins/protobuf.dll differ
diff --git a/Assets/Proto/Configs/static_config.proto b/Assets/Proto/Configs/static_config.proto
index 60a4c431c..42ea961ee 100644
--- a/Assets/Proto/Configs/static_config.proto
+++ b/Assets/Proto/Configs/static_config.proto
@@ -5,16 +5,17 @@ package configs;
 // Agent type enumeration.
 enum AgentType {
   INVALID_TYPE = 0;
+  IADS = 1;
 
   // Interceptor types.
-  VESSEL = 1;
-  SHORE_BATTERY = 2;
-  CARRIER_INTERCEPTOR = 3;
-  MISSILE_INTERCEPTOR = 4;
+  VESSEL = 2;
+  SHORE_BATTERY = 3;
+  CARRIER_INTERCEPTOR = 4;
+  MISSILE_INTERCEPTOR = 5;
 
   // Threat types.
-  FIXED_WING_THREAT = 5;
-  ROTARY_WING_THREAT = 6;
+  FIXED_WING_THREAT = 6;
+  ROTARY_WING_THREAT = 7;
 }
 
 // Power enumeration.
diff --git a/Assets/Resources/Prefabs/Managers/CommsManager.prefab b/Assets/Resources/Prefabs/Managers/CommsManager.prefab
new file mode 100644
index 000000000..8330b296d
--- /dev/null
+++ b/Assets/Resources/Prefabs/Managers/CommsManager.prefab
@@ -0,0 +1,46 @@
+%YAML 1.1
+%TAG !u! tag:unity3d.com,2011:
+--- !u!1 &413281702720819039
+GameObject:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  serializedVersion: 6
+  m_Component:
+  - component: {fileID: 1906153742283451389}
+  - component: {fileID: 6909024437189232778}
+  m_Layer: 0
+  m_Name: CommsManager
+  m_TagString: Untagged
+  m_Icon: {fileID: 0}
+  m_NavMeshLayer: 0
+  m_StaticEditorFlags: 0
+  m_IsActive: 1
+--- !u!4 &1906153742283451389
+Transform:
+  m_ObjectHideFlags: 0
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+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 413281702720819039}
+  serializedVersion: 2
+  m_LocalRotation: {x: 0, y: 0, z: 0, w: 1}
+  m_LocalPosition: {x: 0, y: 0, z: 0}
+  m_LocalScale: {x: 1, y: 1, z: 1}
+  m_ConstrainProportionsScale: 0
+  m_Children: []
+  m_Father: {fileID: 0}
+  m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
+--- !u!114 &6909024437189232778
+MonoBehaviour:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 413281702720819039}
+  m_Enabled: 1
+  m_EditorHideFlags: 0
+  m_Script: {fileID: 11500000, guid: 98fda1ef67f74fdb8900b1f26efe0efc, type: 3}
+  m_Name: 
+  m_EditorClassIdentifier: 
diff --git a/Assets/Resources/Prefabs/Managers/CommsManager.prefab.meta b/Assets/Resources/Prefabs/Managers/CommsManager.prefab.meta
new file mode 100644
index 000000000..379bc0414
--- /dev/null
+++ b/Assets/Resources/Prefabs/Managers/CommsManager.prefab.meta
@@ -0,0 +1,7 @@
+fileFormatVersion: 2
+guid: 5d1db500d81874c14b143801f271517b
+PrefabImporter:
+  externalObjects: {}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Scenes/MainScene.unity b/Assets/Scenes/MainScene.unity
index 237b2dcd3..650e25093 100644
--- a/Assets/Scenes/MainScene.unity
+++ b/Assets/Scenes/MainScene.unity
@@ -183,8 +183,8 @@ MonoBehaviour:
   m_Enabled: 1
   m_EditorHideFlags: 0
   m_Script: {fileID: 11500000, guid: 474bcb49853aa07438625e644c072ee6, type: 3}
-  m_Name:
-  m_EditorClassIdentifier:
+  m_Name: 
+  m_EditorClassIdentifier: 
   m_Version: 3
   m_UsePipelineSettings: 1
   m_AdditionalLightsShadowResolutionTier: 2
@@ -541,8 +541,8 @@ MonoBehaviour:
   m_Enabled: 1
   m_EditorHideFlags: 0
   m_Script: {fileID: 11500000, guid: d419cc9870420964599b3a589b104ffd, type: 3}
-  m_Name:
-  m_EditorClassIdentifier:
+  m_Name: 
+  m_EditorClassIdentifier: 
   m_Material: {fileID: 2100000, guid: e5948286d83b8054cb204ff999348af1, type: 2}
   m_Color: {r: 1, g: 1, b: 1, a: 1}
   m_RaycastTarget: 1
@@ -613,8 +613,8 @@ MonoBehaviour:
   m_Enabled: 1
   m_EditorHideFlags: 0
   m_Script: {fileID: 11500000, guid: f4688fdb7df04437aeb418b961361dc5, type: 3}
-  m_Name:
-  m_EditorClassIdentifier:
+  m_Name: 
+  m_EditorClassIdentifier: 
   m_Material: {fileID: 0}
   m_Color: {r: 1, g: 1, b: 1, a: 1}
   m_RaycastTarget: 1
@@ -860,8 +860,8 @@ MonoBehaviour:
   m_Enabled: 1
   m_EditorHideFlags: 0
   m_Script: {fileID: 11500000, guid: 4e29b1a8efbd4b44bb3f3716e73f07ff, type: 3}
-  m_Name:
-  m_EditorClassIdentifier:
+  m_Name: 
+  m_EditorClassIdentifier: 
   m_Navigation:
     m_Mode: 3
     m_WrapAround: 0
@@ -903,7 +903,7 @@ MonoBehaviour:
           m_ObjectArgumentAssemblyTypeName: UnityEngine.Object, UnityEngine
           m_IntArgument: 0
           m_FloatArgument: 0
-          m_StringArgument:
+          m_StringArgument: 
           m_BoolArgument: 0
         m_CallState: 2
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@@ -916,8 +916,8 @@ MonoBehaviour:
   m_Enabled: 1
   m_EditorHideFlags: 0
   m_Script: {fileID: 11500000, guid: fe87c0e1cc204ed48ad3b37840f39efc, type: 3}
-  m_Name:
-  m_EditorClassIdentifier:
+  m_Name: 
+  m_EditorClassIdentifier: 
   m_Material: {fileID: 0}
   m_Color: {r: 1, g: 1, b: 1, a: 1}
   m_RaycastTarget: 1
@@ -1102,8 +1102,8 @@ MonoBehaviour:
   m_Enabled: 1
   m_EditorHideFlags: 0
   m_Script: {fileID: 11500000, guid: fe87c0e1cc204ed48ad3b37840f39efc, type: 3}
-  m_Name:
-  m_EditorClassIdentifier:
+  m_Name: 
+  m_EditorClassIdentifier: 
   m_Material: {fileID: 0}
   m_Color: {r: 1, g: 1, b: 1, a: 1}
   m_RaycastTarget: 1
@@ -1140,8 +1140,8 @@ MonoBehaviour:
   m_Enabled: 1
   m_EditorHideFlags: 0
   m_Script: {fileID: 11500000, guid: 31a19414c41e5ae4aae2af33fee712f6, type: 3}
-  m_Name:
-  m_EditorClassIdentifier:
+  m_Name: 
+  m_EditorClassIdentifier: 
   m_ShowMaskGraphic: 0
 --- !u!1 &220406059
 GameObject:
@@ -1190,8 +1190,8 @@ MonoBehaviour:
   m_Enabled: 1
   m_EditorHideFlags: 0
   m_Script: {fileID: 11500000, guid: f4688fdb7df04437aeb418b961361dc5, type: 3}
-  m_Name:
-  m_EditorClassIdentifier:
+  m_Name: 
+  m_EditorClassIdentifier: 
   m_Material: {fileID: 0}
   m_Color: {r: 1, g: 1, b: 1, a: 1}
   m_RaycastTarget: 1
@@ -1435,8 +1435,8 @@ MonoBehaviour:
   m_Enabled: 1
   m_EditorHideFlags: 0
   m_Script: {fileID: 11500000, guid: f4688fdb7df04437aeb418b961361dc5, type: 3}
-  m_Name:
-  m_EditorClassIdentifier:
+  m_Name: 
+  m_EditorClassIdentifier: 
   m_Material: {fileID: 0}
   m_Color: {r: 1, g: 1, b: 1, a: 1}
   m_RaycastTarget: 1
@@ -1571,8 +1571,8 @@ MonoBehaviour:
   m_Enabled: 1
   m_EditorHideFlags: 0
   m_Script: {fileID: 11500000, guid: f4688fdb7df04437aeb418b961361dc5, type: 3}
-  m_Name:
-  m_EditorClassIdentifier:
+  m_Name: 
+  m_EditorClassIdentifier: 
   m_Material: {fileID: 0}
   m_Color: {r: 1, g: 1, b: 1, a: 1}
   m_RaycastTarget: 1
@@ -1707,8 +1707,8 @@ MonoBehaviour:
   m_Enabled: 1
   m_EditorHideFlags: 0
   m_Script: {fileID: 11500000, guid: f4688fdb7df04437aeb418b961361dc5, type: 3}
-  m_Name:
-  m_EditorClassIdentifier:
+  m_Name: 
+  m_EditorClassIdentifier: 
   m_Material: {fileID: 0}
   m_Color: {r: 1, g: 1, b: 1, a: 1}
   m_RaycastTarget: 1
@@ -1952,8 +1952,8 @@ MonoBehaviour:
   m_Enabled: 1
   m_EditorHideFlags: 0
   m_Script: {fileID: 11500000, guid: f4688fdb7df04437aeb418b961361dc5, type: 3}
-  m_Name:
-  m_EditorClassIdentifier:
+  m_Name: 
+  m_EditorClassIdentifier: 
   m_Material: {fileID: 0}
   m_Color: {r: 1, g: 1, b: 1, a: 1}
   m_RaycastTarget: 1
@@ -2088,8 +2088,8 @@ MonoBehaviour:
   m_Enabled: 1
   m_EditorHideFlags: 0
   m_Script: {fileID: 11500000, guid: 1344c3c82d62a2a41a3576d8abb8e3ea, type: 3}
-  m_Name:
-  m_EditorClassIdentifier:
+  m_Name: 
+  m_EditorClassIdentifier: 
   m_Material: {fileID: 0}
   m_Color: {r: 1, g: 1, b: 1, a: 1}
   m_RaycastTarget: 1
@@ -2143,8 +2143,8 @@ MonoBehaviour:
   m_Enabled: 1
   m_EditorHideFlags: 0
   m_Script: {fileID: 11500000, guid: dc42784cf147c0c48a680349fa168899, type: 3}
-  m_Name:
-  m_EditorClassIdentifier:
+  m_Name: 
+  m_EditorClassIdentifier: 
   m_IgnoreReversedGraphics: 1
   m_BlockingObjects: 0
   m_BlockingMask:
@@ -2160,8 +2160,8 @@ MonoBehaviour:
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   m_EditorHideFlags: 0
   m_Script: {fileID: 11500000, guid: 0cd44c1031e13a943bb63640046fad76, type: 3}
-  m_Name:
-  m_EditorClassIdentifier:
+  m_Name: 
+  m_EditorClassIdentifier: 
   m_UiScaleMode: 1
   m_ReferencePixelsPerUnit: 100
   m_ScaleFactor: 1.5
@@ -2229,8 +2229,8 @@ MonoBehaviour:
   m_Enabled: 1
   m_EditorHideFlags: 0
   m_Script: {fileID: 11500000, guid: b078e3e02b9c70645a97175561678909, type: 3}
-  m_Name:
-  m_EditorClassIdentifier:
+  m_Name: 
+  m_EditorClassIdentifier: 
   _cameraPanel: {fileID: 1417973884}
   _tacticalPanel: {fileID: 803864271}
   _configSelectorPanel: {fileID: 1419019256}
@@ -2299,8 +2299,8 @@ MonoBehaviour:
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   m_EditorHideFlags: 0
   m_Script: {fileID: 11500000, guid: 7b743370ac3e4ec2a1668f5455a8ef8a, type: 3}
-  m_Name:
-  m_EditorClassIdentifier:
+  m_Name: 
+  m_EditorClassIdentifier: 
   m_Navigation:
     m_Mode: 3
     m_WrapAround: 0
@@ -2363,8 +2363,8 @@ MonoBehaviour:
   m_Enabled: 1
   m_EditorHideFlags: 0
   m_Script: {fileID: 11500000, guid: fe87c0e1cc204ed48ad3b37840f39efc, type: 3}
-  m_Name:
-  m_EditorClassIdentifier:
+  m_Name: 
+  m_EditorClassIdentifier: 
   m_Material: {fileID: 0}
   m_Color: {r: 1, g: 1, b: 1, a: 1}
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@@ -2438,8 +2438,8 @@ MonoBehaviour:
   m_Enabled: 1
   m_EditorHideFlags: 0
   m_Script: {fileID: 11500000, guid: f4688fdb7df04437aeb418b961361dc5, type: 3}
-  m_Name:
-  m_EditorClassIdentifier:
+  m_Name: 
+  m_EditorClassIdentifier: 
   m_Material: {fileID: 0}
   m_Color: {r: 1, g: 1, b: 1, a: 1}
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@@ -2574,8 +2574,8 @@ MonoBehaviour:
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   m_EditorHideFlags: 0
   m_Script: {fileID: 11500000, guid: 9541d86e2fd84c1d9990edf0852d74ab, type: 3}
-  m_Name:
-  m_EditorClassIdentifier:
+  m_Name: 
+  m_EditorClassIdentifier: 
   m_Material: {fileID: 0}
   m_Color: {r: 1, g: 1, b: 1, a: 1}
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@@ -2844,8 +2844,8 @@ MonoBehaviour:
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   m_EditorHideFlags: 0
   m_Script: {fileID: 11500000, guid: 474bcb49853aa07438625e644c072ee6, type: 3}
-  m_Name:
-  m_EditorClassIdentifier:
+  m_Name: 
+  m_EditorClassIdentifier: 
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   m_AdditionalLightsShadowResolutionTier: 2
@@ -2984,8 +2984,8 @@ MonoBehaviour:
   m_Enabled: 1
   m_EditorHideFlags: 0
   m_Script: {fileID: 11500000, guid: f4688fdb7df04437aeb418b961361dc5, type: 3}
-  m_Name:
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+  m_Name: 
+  m_EditorClassIdentifier: 
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@@ -3082,8 +3082,8 @@ MonoBehaviour:
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   m_EditorHideFlags: 0
   m_Script: {fileID: 11500000, guid: 84f2990fd69b0284ca96912cbe968b62, type: 3}
-  m_Name:
-  m_EditorClassIdentifier:
+  m_Name: 
+  m_EditorClassIdentifier: 
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 GameObject:
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@@ -3131,8 +3131,8 @@ MonoBehaviour:
   m_Enabled: 1
   m_EditorHideFlags: 0
   m_Script: {fileID: 11500000, guid: f4688fdb7df04437aeb418b961361dc5, type: 3}
-  m_Name:
-  m_EditorClassIdentifier:
+  m_Name: 
+  m_EditorClassIdentifier: 
   m_Material: {fileID: 0}
   m_Color: {r: 1, g: 1, b: 1, a: 1}
   m_RaycastTarget: 1
@@ -3489,8 +3489,8 @@ MonoBehaviour:
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   m_EditorHideFlags: 0
   m_Script: {fileID: 11500000, guid: f4688fdb7df04437aeb418b961361dc5, type: 3}
-  m_Name:
-  m_EditorClassIdentifier:
+  m_Name: 
+  m_EditorClassIdentifier: 
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@@ -3639,8 +3639,8 @@ MonoBehaviour:
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   m_EditorHideFlags: 0
   m_Script: {fileID: 11500000, guid: 474bcb49853aa07438625e644c072ee6, type: 3}
-  m_Name:
-  m_EditorClassIdentifier:
+  m_Name: 
+  m_EditorClassIdentifier: 
   m_Version: 3
   m_UsePipelineSettings: 1
   m_AdditionalLightsShadowResolutionTier: 2
@@ -3779,8 +3779,8 @@ MonoBehaviour:
   m_Enabled: 1
   m_EditorHideFlags: 0
   m_Script: {fileID: 11500000, guid: f4688fdb7df04437aeb418b961361dc5, type: 3}
-  m_Name:
-  m_EditorClassIdentifier:
+  m_Name: 
+  m_EditorClassIdentifier: 
   m_Material: {fileID: 0}
   m_Color: {r: 1, g: 1, b: 1, a: 1}
   m_RaycastTarget: 1
@@ -3897,8 +3897,8 @@ MonoBehaviour:
   m_Enabled: 1
   m_EditorHideFlags: 0
   m_Script: {fileID: 11500000, guid: a79441f348de89743a2939f4d699eac1, type: 3}
-  m_Name:
-  m_EditorClassIdentifier:
+  m_Name: 
+  m_EditorClassIdentifier: 
   m_RenderShadows: 1
   m_RequiresDepthTextureOption: 2
   m_RequiresOpaqueTextureOption: 2
@@ -4062,8 +4062,8 @@ MonoBehaviour:
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   m_EditorHideFlags: 0
   m_Script: {fileID: 11500000, guid: a79441f348de89743a2939f4d699eac1, type: 3}
-  m_Name:
-  m_EditorClassIdentifier:
+  m_Name: 
+  m_EditorClassIdentifier: 
   m_RenderShadows: 0
   m_RequiresDepthTextureOption: 2
   m_RequiresOpaqueTextureOption: 2
@@ -4211,8 +4211,8 @@ MonoBehaviour:
   m_Enabled: 1
   m_EditorHideFlags: 0
   m_Script: {fileID: 11500000, guid: 4e29b1a8efbd4b44bb3f3716e73f07ff, type: 3}
-  m_Name:
-  m_EditorClassIdentifier:
+  m_Name: 
+  m_EditorClassIdentifier: 
   m_Navigation:
     m_Mode: 3
     m_WrapAround: 0
@@ -4254,7 +4254,7 @@ MonoBehaviour:
           m_ObjectArgumentAssemblyTypeName: UnityEngine.Object, UnityEngine
           m_IntArgument: 0
           m_FloatArgument: 0
-          m_StringArgument:
+          m_StringArgument: 
           m_BoolArgument: 0
         m_CallState: 2
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@@ -4267,8 +4267,8 @@ MonoBehaviour:
   m_Enabled: 1
   m_EditorHideFlags: 0
   m_Script: {fileID: 11500000, guid: fe87c0e1cc204ed48ad3b37840f39efc, type: 3}
-  m_Name:
-  m_EditorClassIdentifier:
+  m_Name: 
+  m_EditorClassIdentifier: 
   m_Material: {fileID: 0}
   m_Color: {r: 1, g: 1, b: 1, a: 1}
   m_RaycastTarget: 1
@@ -4375,8 +4375,8 @@ MonoBehaviour:
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   m_EditorHideFlags: 0
   m_Script: {fileID: 11500000, guid: f4688fdb7df04437aeb418b961361dc5, type: 3}
-  m_Name:
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+  m_Name: 
+  m_EditorClassIdentifier: 
   m_Material: {fileID: 0}
   m_Color: {r: 1, g: 1, b: 1, a: 1}
   m_RaycastTarget: 1
@@ -4513,8 +4513,8 @@ MonoBehaviour:
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   m_Script: {fileID: 11500000, guid: 71cb2e74f96324049b5d271eda75374d, type: 3}
-  m_Name:
-  m_EditorClassIdentifier:
+  m_Name: 
+  m_EditorClassIdentifier: 
   _radarUIGroup: {fileID: 98040369}
 --- !u!114 &803864274
 MonoBehaviour:
@@ -4526,8 +4526,8 @@ MonoBehaviour:
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   m_Script: {fileID: 11500000, guid: fe87c0e1cc204ed48ad3b37840f39efc, type: 3}
-  m_Name:
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+  m_Name: 
+  m_EditorClassIdentifier: 
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   m_Color: {r: 0.7529412, g: 0.88235295, b: 1, a: 1}
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@@ -4601,8 +4601,8 @@ MonoBehaviour:
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   m_Script: {fileID: 11500000, guid: f4688fdb7df04437aeb418b961361dc5, type: 3}
-  m_Name:
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+  m_Name: 
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@@ -4796,8 +4796,8 @@ MonoBehaviour:
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   m_Script: {fileID: 11500000, guid: a79441f348de89743a2939f4d699eac1, type: 3}
-  m_Name:
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+  m_Name: 
+  m_EditorClassIdentifier: 
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   m_RequiresOpaqueTextureOption: 2
@@ -4840,8 +4840,8 @@ MonoBehaviour:
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   m_Script: {fileID: 11500000, guid: b9e222cf9df32df4196f08036d68d740, type: 3}
-  m_Name:
-  m_EditorClassIdentifier:
+  m_Name: 
+  m_EditorClassIdentifier: 
   _cameraSpeedNormal: 300
   _cameraSpeedMax: 2000
   _speedH: 0.5
@@ -4912,8 +4912,8 @@ MonoBehaviour:
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   m_Script: {fileID: 11500000, guid: 4e29b1a8efbd4b44bb3f3716e73f07ff, type: 3}
-  m_Name:
-  m_EditorClassIdentifier:
+  m_Name: 
+  m_EditorClassIdentifier: 
   m_Navigation:
     m_Mode: 3
     m_WrapAround: 0
@@ -9855,7 +9855,7 @@ MonoBehaviour:
           m_ObjectArgumentAssemblyTypeName: UnityEngine.Object, UnityEngine
           m_IntArgument: 0
           m_FloatArgument: 0
-          m_StringArgument:
+          m_StringArgument: 
           m_BoolArgument: 0
         m_CallState: 2
 --- !u!114 &2037993927
@@ -9868,8 +9868,8 @@ MonoBehaviour:
   m_Enabled: 1
   m_EditorHideFlags: 0
   m_Script: {fileID: 11500000, guid: fe87c0e1cc204ed48ad3b37840f39efc, type: 3}
-  m_Name:
-  m_EditorClassIdentifier:
+  m_Name: 
+  m_EditorClassIdentifier: 
   m_Material: {fileID: 0}
   m_Color: {r: 1, g: 1, b: 1, a: 1}
   m_RaycastTarget: 1
@@ -9924,8 +9924,8 @@ MonoBehaviour:
   m_Enabled: 1
   m_EditorHideFlags: 0
   m_Script: {fileID: 11500000, guid: 4f231c4fb786f3946a6b90b886c48677, type: 3}
-  m_Name:
-  m_EditorClassIdentifier:
+  m_Name: 
+  m_EditorClassIdentifier: 
   m_SendPointerHoverToParent: 1
   m_HorizontalAxis: Horizontal
   m_VerticalAxis: Vertical
@@ -9944,8 +9944,8 @@ MonoBehaviour:
   m_Enabled: 1
   m_EditorHideFlags: 0
   m_Script: {fileID: 11500000, guid: 76c392e42b5098c458856cdf6ecaaaa1, type: 3}
-  m_Name:
-  m_EditorClassIdentifier:
+  m_Name: 
+  m_EditorClassIdentifier: 
   m_FirstSelected: {fileID: 0}
   m_sendNavigationEvents: 1
   m_DragThreshold: 10
@@ -10047,8 +10047,8 @@ MonoBehaviour:
   m_Enabled: 1
   m_EditorHideFlags: 0
   m_Script: {fileID: 11500000, guid: fe87c0e1cc204ed48ad3b37840f39efc, type: 3}
-  m_Name:
-  m_EditorClassIdentifier:
+  m_Name: 
+  m_EditorClassIdentifier: 
   m_Material: {fileID: 0}
   m_Color: {r: 1, g: 1, b: 1, a: 1}
   m_RaycastTarget: 1
@@ -10122,8 +10122,8 @@ MonoBehaviour:
   m_Enabled: 1
   m_EditorHideFlags: 0
   m_Script: {fileID: 11500000, guid: f4688fdb7df04437aeb418b961361dc5, type: 3}
-  m_Name:
-  m_EditorClassIdentifier:
+  m_Name: 
+  m_EditorClassIdentifier: 
   m_Material: {fileID: 0}
   m_Color: {r: 1, g: 1, b: 1, a: 1}
   m_RaycastTarget: 1
@@ -10268,6 +10268,63 @@ PrefabInstance:
     m_AddedGameObjects: []
     m_AddedComponents: []
   m_SourcePrefab: {fileID: 100100000, guid: ee3a105ec5b4dcf4fbf012ad57cd9a65, type: 3}
+--- !u!1001 &2232610091417715941
+PrefabInstance:
+  m_ObjectHideFlags: 0
+  serializedVersion: 2
+  m_Modification:
+    serializedVersion: 3
+    m_TransformParent: {fileID: 0}
+    m_Modifications:
+    - target: {fileID: 413281702720819039, guid: 5d1db500d81874c14b143801f271517b, type: 3}
+      propertyPath: m_Name
+      value: CommsManager
+      objectReference: {fileID: 0}
+    - target: {fileID: 1906153742283451389, guid: 5d1db500d81874c14b143801f271517b, type: 3}
+      propertyPath: m_LocalPosition.x
+      value: 0
+      objectReference: {fileID: 0}
+    - target: {fileID: 1906153742283451389, guid: 5d1db500d81874c14b143801f271517b, type: 3}
+      propertyPath: m_LocalPosition.y
+      value: 0
+      objectReference: {fileID: 0}
+    - target: {fileID: 1906153742283451389, guid: 5d1db500d81874c14b143801f271517b, type: 3}
+      propertyPath: m_LocalPosition.z
+      value: 0
+      objectReference: {fileID: 0}
+    - target: {fileID: 1906153742283451389, guid: 5d1db500d81874c14b143801f271517b, type: 3}
+      propertyPath: m_LocalRotation.w
+      value: 1
+      objectReference: {fileID: 0}
+    - target: {fileID: 1906153742283451389, guid: 5d1db500d81874c14b143801f271517b, type: 3}
+      propertyPath: m_LocalRotation.x
+      value: 0
+      objectReference: {fileID: 0}
+    - target: {fileID: 1906153742283451389, guid: 5d1db500d81874c14b143801f271517b, type: 3}
+      propertyPath: m_LocalRotation.y
+      value: 0
+      objectReference: {fileID: 0}
+    - target: {fileID: 1906153742283451389, guid: 5d1db500d81874c14b143801f271517b, type: 3}
+      propertyPath: m_LocalRotation.z
+      value: 0
+      objectReference: {fileID: 0}
+    - target: {fileID: 1906153742283451389, guid: 5d1db500d81874c14b143801f271517b, type: 3}
+      propertyPath: m_LocalEulerAnglesHint.x
+      value: 0
+      objectReference: {fileID: 0}
+    - target: {fileID: 1906153742283451389, guid: 5d1db500d81874c14b143801f271517b, type: 3}
+      propertyPath: m_LocalEulerAnglesHint.y
+      value: 0
+      objectReference: {fileID: 0}
+    - target: {fileID: 1906153742283451389, guid: 5d1db500d81874c14b143801f271517b, type: 3}
+      propertyPath: m_LocalEulerAnglesHint.z
+      value: 0
+      objectReference: {fileID: 0}
+    m_RemovedComponents: []
+    m_RemovedGameObjects: []
+    m_AddedGameObjects: []
+    m_AddedComponents: []
+  m_SourcePrefab: {fileID: 100100000, guid: 5d1db500d81874c14b143801f271517b, type: 3}
 --- !u!1001 &2555751187746303554
 PrefabInstance:
   m_ObjectHideFlags: 0
@@ -10375,11 +10432,11 @@ PrefabInstance:
       objectReference: {fileID: 0}
     - target: {fileID: 8453457817924536687, guid: aa7ae4d8098e76042adf44084e6d17b7, type: 3}
       propertyPath: ThreatTrailMatFaded
-      value:
+      value: 
       objectReference: {fileID: 2100000, guid: 53fa63d934ec00746a0e8e0926461afd, type: 2}
     - target: {fileID: 8453457817924536687, guid: aa7ae4d8098e76042adf44084e6d17b7, type: 3}
       propertyPath: InterceptorTrailMatFaded
-      value:
+      value: 
       objectReference: {fileID: 2100000, guid: 37be7f5b4882cc146afeec6c0247c1fb, type: 2}
     - target: {fileID: 8837696709373837493, guid: aa7ae4d8098e76042adf44084e6d17b7, type: 3}
       propertyPath: m_Name
@@ -10466,6 +10523,7 @@ SceneRoots:
   - {fileID: 566761699}
   - {fileID: 50643634}
   - {fileID: 396716026}
+  - {fileID: 2232610091417715941}
   - {fileID: 1134242715}
   - {fileID: 4968717530266207679}
   - {fileID: 738403218}
diff --git a/Assets/Scripts/Agents/AgentBase.cs b/Assets/Scripts/Agents/AgentBase.cs
index 78dbf917f..b75822f5b 100644
--- a/Assets/Scripts/Agents/AgentBase.cs
+++ b/Assets/Scripts/Agents/AgentBase.cs
@@ -1,10 +1,11 @@
+using System;
 using UnityEngine;
 
 // Base implementation of an agent.
 //
 // See the agent interface for property and method documentation.
-public class AgentBase : MonoBehaviour, IAgent {
-  public event AgentTerminatedEventHandler OnTerminated;
+public class AgentBase : MonoBehaviour, IAgent, ICommsEndpoint {
+  public event Action<IAgent> OnTerminated;
 
   private const float _epsilon = 1e-12f;
 
@@ -109,6 +110,9 @@ public Vector3 AccelerationInput {
   // The inverse rotation is cached and updated before every fixed update.
   public Quaternion InverseRotation { get; private set; }
 
+  // Communication node managed by the communication manager.
+  public CommsNode CommsNode { get; set; }
+
   public float MaxForwardAcceleration() {
     return StaticConfig.AccelerationConfig?.MaxForwardAcceleration ?? 0;
   }
diff --git a/Assets/Scripts/Agents/IAgent.cs b/Assets/Scripts/Agents/IAgent.cs
index 28a036fb1..329966b90 100644
--- a/Assets/Scripts/Agents/IAgent.cs
+++ b/Assets/Scripts/Agents/IAgent.cs
@@ -1,3 +1,4 @@
+using System;
 using UnityEngine;
 
 // Interface for an agent.
@@ -5,10 +6,8 @@
 // An agent represents a physical entity, such as a ship, an interceptor, or a threat subject to the
 // laws of physics.
 
-public delegate void AgentTerminatedEventHandler(IAgent agent);
-
 public interface IAgent {
-  event AgentTerminatedEventHandler OnTerminated;
+  event Action<IAgent> OnTerminated;
 
   HierarchicalAgent HierarchicalAgent { get; set; }
 
@@ -45,6 +44,7 @@ public interface IAgent {
   Vector3 Forward { get; }
   Vector3 Right { get; }
   Quaternion InverseRotation { get; }
+  CommsNode CommsNode { get; set; }
 
   float MaxForwardAcceleration();
   float MaxNormalAcceleration();
diff --git a/Assets/Scripts/Communication/CommsNode.cs b/Assets/Scripts/Communication/CommsNode.cs
new file mode 100644
index 000000000..a63dd2c51
--- /dev/null
+++ b/Assets/Scripts/Communication/CommsNode.cs
@@ -0,0 +1,18 @@
+using System;
+
+// The communication node is an endpoint encapsulated by an agent or system like the IADS to
+// interface with the mailbox.
+public sealed class CommsNode {
+  public Configs.AgentType EndpointType { get; init; }
+
+  // The OnReceived event handler is called when the communication node receives a message.
+  public event Action<Message> OnReceived;
+
+  public CommsNode(Configs.AgentType endpointType) {
+    EndpointType = endpointType;
+  }
+
+  public void Receive(Message message) {
+    OnReceived?.Invoke(message);
+  }
+}
diff --git a/Assets/Scripts/Communication/CommsNode.cs.meta b/Assets/Scripts/Communication/CommsNode.cs.meta
new file mode 100644
index 000000000..4894f414e
--- /dev/null
+++ b/Assets/Scripts/Communication/CommsNode.cs.meta
@@ -0,0 +1,2 @@
+fileFormatVersion: 2
+guid: d165fa49100e46a8a183244b6bc15f10
diff --git a/Assets/Scripts/Communication/ICommsEndpoint.cs b/Assets/Scripts/Communication/ICommsEndpoint.cs
new file mode 100644
index 000000000..2209ab087
--- /dev/null
+++ b/Assets/Scripts/Communication/ICommsEndpoint.cs
@@ -0,0 +1,4 @@
+// Interface for a communication endpoint.
+public interface ICommsEndpoint {
+  CommsNode CommsNode { get; }
+}
diff --git a/Assets/Scripts/Communication/ICommsEndpoint.cs.meta b/Assets/Scripts/Communication/ICommsEndpoint.cs.meta
new file mode 100644
index 000000000..723904aa3
--- /dev/null
+++ b/Assets/Scripts/Communication/ICommsEndpoint.cs.meta
@@ -0,0 +1,2 @@
+fileFormatVersion: 2
+guid: 5d342e2b2a05641ad80db6c6dc18f544
\ No newline at end of file
diff --git a/Assets/Scripts/Communication/Message.cs b/Assets/Scripts/Communication/Message.cs
index dd65402df..ff8434abd 100644
--- a/Assets/Scripts/Communication/Message.cs
+++ b/Assets/Scripts/Communication/Message.cs
@@ -11,13 +11,13 @@ public enum MessageType {
 }
 
 public abstract class Message {
-  public IAgent Sender { get; }
-  public IAgent Receiver { get; }
+  public CommsNode Sender { get; }
+  public CommsNode Receiver { get; }
   public MessageType Type { get; }
 
   public abstract IMessagePayload Payload { get; }
 
-  protected Message(IAgent sender, IAgent receiver, MessageType type) {
+  protected Message(CommsNode sender, CommsNode receiver, MessageType type) {
     Sender = sender ?? throw new ArgumentNullException(nameof(sender));
     Receiver = receiver ?? throw new ArgumentNullException(nameof(receiver));
     Type = type;
@@ -29,7 +29,7 @@ public abstract class Message<TPayload> : Message
     where TPayload : class, IMessagePayload {
   public TPayload PayloadData { get; }
   public sealed override IMessagePayload Payload => PayloadData;
-  protected Message(IAgent sender, IAgent receiver, MessageType type, TPayload payload)
+  protected Message(CommsNode sender, CommsNode receiver, MessageType type, TPayload payload)
       : base(sender, receiver, type) {
     PayloadData = payload ?? throw new ArgumentNullException(nameof(payload));
   }
@@ -38,7 +38,8 @@ protected Message(IAgent sender, IAgent receiver, MessageType type, TPayload pay
 // This message is sent upwards to a parent interceptor or IADS when a sub-interceptor has no target
 // and is requesting a new target.
 public sealed class AssignTargetRequestMessage : Message<AssignTargetRequestPayload> {
-  public AssignTargetRequestMessage(IAgent sender, IAgent receiver, IInterceptor subInterceptor)
+  public AssignTargetRequestMessage(CommsNode sender, CommsNode receiver,
+                                    IInterceptor subInterceptor)
       : base(sender, receiver, MessageType.AssignTargetRequest,
              new AssignTargetRequestPayload(subInterceptor)) {}
 }
@@ -46,7 +47,7 @@ public AssignTargetRequestMessage(IAgent sender, IAgent receiver, IInterceptor s
 // This message is sent downwards from the IADS or a parent interceptor to inform the
 // sub-interceptor of a new target.
 public sealed class AssignTargetResponseMessage : Message<AssignTargetResponsePayload> {
-  public AssignTargetResponseMessage(IAgent sender, IAgent receiver, IHierarchical target)
+  public AssignTargetResponseMessage(CommsNode sender, CommsNode receiver, IHierarchical target)
       : base(sender, receiver, MessageType.AssignTargetResponse,
              new AssignTargetResponsePayload(target)) {}
 }
@@ -55,7 +56,7 @@ public AssignTargetResponseMessage(IAgent sender, IAgent receiver, IHierarchical
 // pursue the current target and is requesting the parent interceptor or IADS to reassign that
 // target elsewhere.
 public sealed class ReassignTargetRequestMessage : Message<ReassignTargetRequestPayload> {
-  public ReassignTargetRequestMessage(IAgent sender, IAgent receiver, IHierarchical target)
+  public ReassignTargetRequestMessage(CommsNode sender, CommsNode receiver, IHierarchical target)
       : base(sender, receiver, MessageType.ReassignTargetRequest,
              new ReassignTargetRequestPayload(target)) {}
 }
diff --git a/Assets/Scripts/Communication/PendingMessage.cs b/Assets/Scripts/Communication/PendingMessage.cs
index acf14674f..243a44194 100644
--- a/Assets/Scripts/Communication/PendingMessage.cs
+++ b/Assets/Scripts/Communication/PendingMessage.cs
@@ -10,8 +10,8 @@
   // Absolute simulation time in seconds when the mailbox should deliver this message.
   public float DeliverAt { get; }
 
-  public IAgent Sender => Message?.Sender;
-  public IAgent Receiver => Message?.Receiver;
+  public CommsNode Sender => Message?.Sender;
+  public CommsNode Receiver => Message?.Receiver;
 
   public PendingMessage(Message message, float deliverAt) {
     if (float.IsNaN(deliverAt) || float.IsInfinity(deliverAt) || deliverAt < 0f) {
diff --git a/Assets/Scripts/Config/ConfigLoader.cs b/Assets/Scripts/Config/ConfigLoader.cs
index 1d7e78b5f..52823b7b4 100644
--- a/Assets/Scripts/Config/ConfigLoader.cs
+++ b/Assets/Scripts/Config/ConfigLoader.cs
@@ -7,6 +7,7 @@ public static class ConfigLoader {
   // message as an output argument.
   private delegate Plugin.StatusCode SerializedProtobufLengthDelegate(string file,
                                                                       out int serializedLength);
+
   // Delegate for loading from a Protobuf text file to binary format and returning the length of the
   // serialized message as an output argument.
   private delegate Plugin.StatusCode LoadProtobufDelegate(string file, byte[] buffer,
diff --git a/Assets/Scripts/Generated/Proto/StaticConfig.cs b/Assets/Scripts/Generated/Proto/StaticConfig.cs
index 723f8c7fc..d2c200933 100644
--- a/Assets/Scripts/Generated/Proto/StaticConfig.cs
+++ b/Assets/Scripts/Generated/Proto/StaticConfig.cs
@@ -49,12 +49,13 @@ static StaticConfigReflection() {
             "cy5IaXRDb25maWcSNAoRY29udHJvbGxlcl9jb25maWcYCSABKAsyGS5jb25m",
             "aWdzLkNvbnRyb2xsZXJDb25maWcSLQoLcG93ZXJfdGFibGUYCiADKAsyGC5j",
             "b25maWdzLlBvd2VyVGFibGVFbnRyeRI6ChR2aXN1YWxpemF0aW9uX2NvbmZp",
-            "ZxgLIAEoCzIcLmNvbmZpZ3MuVmlzdWFsaXphdGlvbkNvbmZpZyqdAQoJQWdl",
-            "bnRUeXBlEhAKDElOVkFMSURfVFlQRRAAEgoKBlZFU1NFTBABEhEKDVNIT1JF",
-            "X0JBVFRFUlkQAhIXChNDQVJSSUVSX0lOVEVSQ0VQVE9SEAMSFwoTTUlTU0lM",
-            "RV9JTlRFUkNFUFRPUhAEEhUKEUZJWEVEX1dJTkdfVEhSRUFUEAUSFgoSUk9U",
-            "QVJZX1dJTkdfVEhSRUFUEAYqOAoFUG93ZXISCAoESURMRRAAEgcKA0xPVxAB",
-            "EgoKBkNSVUlTRRACEgcKA01JTBADEgcKA01BWBAEYgZwcm90bzM="));
+            "ZxgLIAEoCzIcLmNvbmZpZ3MuVmlzdWFsaXphdGlvbkNvbmZpZyqnAQoJQWdl",
+            "bnRUeXBlEhAKDElOVkFMSURfVFlQRRAAEggKBElBRFMQARIKCgZWRVNTRUwQ",
+            "AhIRCg1TSE9SRV9CQVRURVJZEAMSFwoTQ0FSUklFUl9JTlRFUkNFUFRPUhAE",
+            "EhcKE01JU1NJTEVfSU5URVJDRVBUT1IQBRIVChFGSVhFRF9XSU5HX1RIUkVB",
+            "VBAGEhYKElJPVEFSWV9XSU5HX1RIUkVBVBAHKjgKBVBvd2VyEggKBElETEUQ",
+            "ABIHCgNMT1cQARIKCgZDUlVJU0UQAhIHCgNNSUwQAxIHCgNNQVgQBGIGcHJv",
+            "dG8z"));
       descriptor = pbr::FileDescriptor.FromGeneratedCode(descriptorData,
           new pbr::FileDescriptor[] { },
           new pbr::GeneratedClrTypeInfo(new[] {typeof(global::Configs.AgentType), typeof(global::Configs.Power), }, null, new pbr::GeneratedClrTypeInfo[] {
@@ -78,18 +79,19 @@ static StaticConfigReflection() {
   /// </summary>
   public enum AgentType {
     [pbr::OriginalName("INVALID_TYPE")] InvalidType = 0,
+    [pbr::OriginalName("IADS")] Iads = 1,
     /// <summary>
     /// Interceptor types.
     /// </summary>
-    [pbr::OriginalName("VESSEL")] Vessel = 1,
-    [pbr::OriginalName("SHORE_BATTERY")] ShoreBattery = 2,
-    [pbr::OriginalName("CARRIER_INTERCEPTOR")] CarrierInterceptor = 3,
-    [pbr::OriginalName("MISSILE_INTERCEPTOR")] MissileInterceptor = 4,
+    [pbr::OriginalName("VESSEL")] Vessel = 2,
+    [pbr::OriginalName("SHORE_BATTERY")] ShoreBattery = 3,
+    [pbr::OriginalName("CARRIER_INTERCEPTOR")] CarrierInterceptor = 4,
+    [pbr::OriginalName("MISSILE_INTERCEPTOR")] MissileInterceptor = 5,
     /// <summary>
     /// Threat types.
     /// </summary>
-    [pbr::OriginalName("FIXED_WING_THREAT")] FixedWingThreat = 5,
-    [pbr::OriginalName("ROTARY_WING_THREAT")] RotaryWingThreat = 6,
+    [pbr::OriginalName("FIXED_WING_THREAT")] FixedWingThreat = 6,
+    [pbr::OriginalName("ROTARY_WING_THREAT")] RotaryWingThreat = 7,
   }
 
   /// <summary>
diff --git a/Assets/Scripts/IADS/IADS.cs b/Assets/Scripts/IADS/IADS.cs
index 88a309e7c..cf7492a34 100644
--- a/Assets/Scripts/IADS/IADS.cs
+++ b/Assets/Scripts/IADS/IADS.cs
@@ -5,7 +5,7 @@
 
 // The Integrated Air Defense System (IADS) manages the air defense strategy.
 // It implements the singleton pattern to ensure that only one instance exists.
-public class IADS : MonoBehaviour {
+public class IADS : MonoBehaviour, ICommsEndpoint {
   // Hierarchy parameters.
   private const float _hierarchyUpdatePeriod = 5f;
   private const float _coverageFactor = 1f;
@@ -28,12 +28,14 @@ public class IADS : MonoBehaviour {
 
   public IReadOnlyList<IHierarchical> Launchers => _launchers.AsReadOnly();
 
+  public CommsNode CommsNode { get; private set; }
+
   private void Awake() {
     if (Instance != null && Instance != this) {
       Destroy(gameObject);
-    } else {
-      Instance = this;
+      return;
     }
+    Instance = this;
   }
 
   private void Start() {
@@ -42,6 +44,10 @@ private void Start() {
     SimManager.Instance.OnNewAsset += RegisterNewAsset;
     SimManager.Instance.OnNewLauncher += RegisterNewLauncher;
     SimManager.Instance.OnNewThreat += RegisterNewThreat;
+
+    // Create a communication node for the IADS.
+    CommsNode = new CommsNode(Configs.AgentType.Iads);
+    CommsManager.Instance.AddNode(CommsNode);
   }
 
   private void OnDestroy() {
diff --git a/Assets/Scripts/Interceptors/IInterceptor.cs b/Assets/Scripts/Interceptors/IInterceptor.cs
index 0e20d35c2..3f821b233 100644
--- a/Assets/Scripts/Interceptors/IInterceptor.cs
+++ b/Assets/Scripts/Interceptors/IInterceptor.cs
@@ -1,26 +1,24 @@
+using System;
+
 // Interface for an interceptor.
 //
 // Interceptors defend the asset against incoming threats.
-
-public delegate void InterceptorEventHandler(IInterceptor interceptor);
-public delegate void TargetReassignEventHandler(IHierarchical target);
-
 public interface IInterceptor : IAgent {
   // The OnHit event handler is called when the interceptor successfully intercepts a threat.
-  event InterceptorEventHandler OnHit;
+  event Action<IInterceptor> OnHit;
   // The OnMiss event handler is called when the interceptor misses its target but is not destroyed.
-  event InterceptorEventHandler OnMiss;
+  event Action<IInterceptor> OnMiss;
   // The OnDestroyed event handler is called when the interceptor is destroyed prior to intercepting
   // a threat, e.g., through a ground collision.
-  event InterceptorEventHandler OnDestroyed;
+  event Action<IInterceptor> OnDestroyed;
 
   // The OnAssignSubInterceptor event handler is called when a sub-interceptor has no assigned
   // target and should be assigned one.
-  event InterceptorEventHandler OnAssignSubInterceptor;
+  event Action<IInterceptor> OnAssignSubInterceptor;
 
   // The OnReassignTarget event handler is called when a target needs to be re-assigned to another
   // interceptor.
-  event TargetReassignEventHandler OnReassignTarget;
+  event Action<IHierarchical> OnReassignTarget;
 
   IEscapeDetector EscapeDetector { get; set; }
 
diff --git a/Assets/Scripts/Interceptors/InterceptorBase.cs b/Assets/Scripts/Interceptors/InterceptorBase.cs
index ceb6cfe52..148caaa33 100644
--- a/Assets/Scripts/Interceptors/InterceptorBase.cs
+++ b/Assets/Scripts/Interceptors/InterceptorBase.cs
@@ -1,3 +1,4 @@
+using System;
 using System.Collections;
 using System.Collections.Generic;
 using System.Linq;
@@ -5,11 +6,11 @@
 
 // Base implementation of an interceptor.
 public abstract class InterceptorBase : AgentBase, IInterceptor {
-  public event InterceptorEventHandler OnHit;
-  public event InterceptorEventHandler OnMiss;
-  public event InterceptorEventHandler OnDestroyed;
-  public event InterceptorEventHandler OnAssignSubInterceptor;
-  public event TargetReassignEventHandler OnReassignTarget;
+  public event Action<IInterceptor> OnHit;
+  public event Action<IInterceptor> OnMiss;
+  public event Action<IInterceptor> OnDestroyed;
+  public event Action<IInterceptor> OnAssignSubInterceptor;
+  public event Action<IHierarchical> OnReassignTarget;
 
   // Default proportional navigation controller gain.
   private const float _proportionalNavigationGain = 5f;
@@ -272,7 +273,7 @@ private void OnTriggerEnter(Collider other) {
     if (otherAgent is IThreat threat) {
       // Check the kill probability.
       float killProbability = threat.StaticConfig.HitConfig?.KillProbability ?? 1;
-      bool isHit = Random.value <= killProbability;
+      bool isHit = UnityEngine.Random.value <= killProbability;
       if (isHit) {
         threat.HandleIntercept();
         OnHit?.Invoke(this);
diff --git a/Assets/Scripts/Managers/CommsManager.cs b/Assets/Scripts/Managers/CommsManager.cs
new file mode 100644
index 000000000..e7185a6f7
--- /dev/null
+++ b/Assets/Scripts/Managers/CommsManager.cs
@@ -0,0 +1,37 @@
+using System.Collections.Generic;
+using UnityEngine;
+
+// The comunication manager manages the communication nodes and handles communication between
+// agents.
+public class CommsManager : MonoBehaviour {
+  public static CommsManager Instance { get; private set; }
+
+  // Map from agent to the communication node.
+  private readonly HashSet<CommsNode> _nodes = new HashSet<CommsNode>();
+
+  // Add a communication node. This function should only be used by the IADS.
+  public void AddNode(CommsNode node) => _nodes.Add(node);
+
+  private void Awake() {
+    if (Instance != null && Instance != this) {
+      Destroy(gameObject);
+      return;
+    }
+    Instance = this;
+  }
+
+  private void Start() {
+    SimManager.Instance.OnSimulationStarted += () => _nodes.Clear();
+    SimManager.Instance.OnSimulationEnded += () => _nodes.Clear();
+    SimManager.Instance.OnNewInterceptor += RegisterNewAgent;
+    SimManager.Instance.OnNewLauncher += RegisterNewAgent;
+  }
+
+  private void RegisterNewAgent(IAgent agent) {
+    var commsNode = new CommsNode(agent.StaticConfig.AgentType);
+    agent.CommsNode = commsNode;
+    agent.OnTerminated +=
+        _ => _nodes.Remove(commsNode);
+    _nodes.Add(commsNode);
+  }
+}
diff --git a/Assets/Scripts/Managers/CommsManager.cs.meta b/Assets/Scripts/Managers/CommsManager.cs.meta
new file mode 100644
index 000000000..aae063d63
--- /dev/null
+++ b/Assets/Scripts/Managers/CommsManager.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 98fda1ef67f74fdb8900b1f26efe0efc
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: -2
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Scripts/Managers/EarlyFixedUpdateManager.cs b/Assets/Scripts/Managers/EarlyFixedUpdateManager.cs
index 8291a7a7b..82e765378 100644
--- a/Assets/Scripts/Managers/EarlyFixedUpdateManager.cs
+++ b/Assets/Scripts/Managers/EarlyFixedUpdateManager.cs
@@ -1,3 +1,4 @@
+using System;
 using UnityEngine;
 
 // The early fixed update manager allows actions to be executed before the main fixed update call
@@ -5,8 +6,7 @@
 [DefaultExecutionOrder(-50)]
 public class EarlyFixedUpdateManager : MonoBehaviour {
   // Simulation events.
-  public delegate void UpdateHandler();
-  public event UpdateHandler OnEarlyFixedUpdate;
+  public event Action OnEarlyFixedUpdate;
 
   public static EarlyFixedUpdateManager Instance { get; private set; }
 
diff --git a/Assets/Scripts/Managers/RunWorker.cs b/Assets/Scripts/Managers/RunWorker.cs
index cbd10feb1..7c5bfa8aa 100644
--- a/Assets/Scripts/Managers/RunWorker.cs
+++ b/Assets/Scripts/Managers/RunWorker.cs
@@ -91,19 +91,6 @@ private void Start() {
     StartCoroutine(RunWhenReady());
   }
 
-  private void OnDestroy() {
-    if (SimManager.Instance != null) {
-      SimManager.Instance.OnSimulationEnded -= RegisterSimulationEnded;
-    }
-    if (Instance == this) {
-      Instance = null;
-      IsWorkerMode = false;
-      SimulationConfigFile = null;
-      Seed = 0;
-      OutputDirectory = null;
-    }
-  }
-
   private void Initialize(string simulationConfigFile, int seed, string outputDirectory) {
     IsWorkerMode = true;
     SimulationConfigFile = simulationConfigFile;
diff --git a/Assets/Scripts/Managers/SimManager.cs b/Assets/Scripts/Managers/SimManager.cs
index d08725b19..a454eecc8 100644
--- a/Assets/Scripts/Managers/SimManager.cs
+++ b/Assets/Scripts/Managers/SimManager.cs
@@ -7,21 +7,16 @@
 // It implements the singleton pattern to ensure that only one instance exists.
 public class SimManager : MonoBehaviour {
   // Simulation events.
-  public delegate void SimulationEventHandler();
-  public event SimulationEventHandler OnSimulationStarted;
-  public event SimulationEventHandler OnSimulationEnded;
+  public event Action OnSimulationStarted;
+  public event Action OnSimulationEnded;
 
   // Interceptor events.
-  public delegate void NewInterceptorEventHandler(IInterceptor interceptor);
-  public event NewInterceptorEventHandler OnNewInterceptor;
-  public delegate void NewAssetEventHandler(IInterceptor asset);
-  public event NewAssetEventHandler OnNewAsset;
-  public delegate void NewLauncherEventHandler(IInterceptor launcher);
-  public event NewLauncherEventHandler OnNewLauncher;
+  public event Action<IInterceptor> OnNewInterceptor;
+  public event Action<IInterceptor> OnNewAsset;
+  public event Action<IInterceptor> OnNewLauncher;
 
   // Threat events.
-  public delegate void NewThreatEventHandler(IThreat threat);
-  public event NewThreatEventHandler OnNewThreat;
+  public event Action<IThreat> OnNewThreat;
 
   // Default simulation configuration file.
   private const string _defaultSimulationConfigFile = "7_quadcopters.pbtxt";
diff --git a/Assets/Scripts/Threats/IThreat.cs b/Assets/Scripts/Threats/IThreat.cs
index 1935e3b75..692ae9e8f 100644
--- a/Assets/Scripts/Threats/IThreat.cs
+++ b/Assets/Scripts/Threats/IThreat.cs
@@ -1,18 +1,17 @@
+using System;
 using System.Collections.Generic;
 
 // Interface for a threat.
 //
 // Threats attempt to reach the asset while avoiding the defending interceptors.
 
-public delegate void ThreatEventHandler(IThreat threat);
-
 public interface IThreat : IAgent {
   // The OnHit event handler is called when the threat reaches its intended target, usually the
   // asset.
-  event ThreatEventHandler OnHit;
+  event Action<IThreat> OnHit;
   // The OnDestroyed event handler is called when the threat is destroyed prior to reaching its
   // intended target, e.g., through a successful intercept or a ground collision.
-  event ThreatEventHandler OnDestroyed;
+  event Action<IThreat> OnDestroyed;
 
   IAttackBehavior AttackBehavior { get; set; }
   IEvasion Evasion { get; set; }
diff --git a/Assets/Scripts/Threats/ThreatBase.cs b/Assets/Scripts/Threats/ThreatBase.cs
index 8cd5d8827..492430281 100644
--- a/Assets/Scripts/Threats/ThreatBase.cs
+++ b/Assets/Scripts/Threats/ThreatBase.cs
@@ -1,11 +1,12 @@
+using System;
 using System.Collections.Generic;
 using System.Linq;
 using UnityEngine;
 
 // Base implementation of a threat.
 public abstract class ThreatBase : AgentBase, IThreat {
-  public event ThreatEventHandler OnHit;
-  public event ThreatEventHandler OnDestroyed;
+  public event Action<IThreat> OnHit;
+  public event Action<IThreat> OnDestroyed;
 
   // Speed difference threshold for applying forward acceleration.
   private const float _speedErrorThreshold = 1f;
diff --git a/Assets/Scripts/UI/UIManager.cs b/Assets/Scripts/UI/UIManager.cs
index 5f45e0d96..66ac349b8 100644
--- a/Assets/Scripts/UI/UIManager.cs
+++ b/Assets/Scripts/UI/UIManager.cs
@@ -98,9 +98,9 @@ public void LogActionError(string message) {
   private void Awake() {
     if (Instance != null && Instance != this) {
       Destroy(gameObject);
-    } else {
-      Instance = this;
+      return;
     }
+    Instance = this;
   }
 
   private void Start() {