Arthropods are a group of animals united by a suite of features including a segmented body with specialised regions (tagmosis), an open circulatory system featuring with a dorsal heart, and an exoskeleton composed of articulated plates which is moulted as the animal grows (ecdysis). The five major groups which make up the phylum Arthropoda are the extinct trilobites, the hexapods (insects and a few smaller groups), the crustaceans (e.g. crabs, lobsters, shrimp, and many more, including woodlice), the myriapods (millipedes, centipedes, and relatives), and the chelicerates (arachnids and horseshoe crabs).