This is a topic I really care about. Please take a look at the slides (they are quite verbose) used in a seminar at a local developers group:
WebRTC applications use the ICE negotiation to discovery the best way to communicate with a remote party. I t dynamically finds a pair of candidates (IP address, port and transport, also known as “transport address”) suitable for exchanging media and data. The most important aspect of this is “dynamically”: a local and a remote transport address are found based on the network conditions at the time of establishing a session. For example, a WebRTC client that normally uses a server reflexive transport address to communicate with an SFU. when running inside the home office, may use a relay transport address over TCP when running inside an office network which limits remote UDP targets. The same configuration (defined as “iceServers” when creating an RTCPeerConnection will work in both cases, producing different outcomes.