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Asteroid yang pertama kali ditemukan akan ditandai dengan simbol penamaan planet tradisional. Berikut tabel penamaannya . Asteroid pertama yang ditemukan manusia adalah 1 Ceres oleh Giusseppe Piazzi di tahun 1801, saat itu asteroid masih disebut planetoid. Ratusan ribu asteroid di tata surya telah ditemukan. Menurut data terbaru, penemuan asteroid kini mencapa 5000 asteroid perbulan. Pada tanggal 27 Agustus 2006, sudah terdapat 136.563 planet kecil yang telah ditemukan dan memiliki orbit yang cukup dikenal sehingga bisa diberi nomor resmi yang permanen. Diantara itu semua terdapat 13.350 yang memiliki nama resmi.
Peringkat asteroid dengan orbit terluas dipegang oleh 1 Ceres dengan orbit berdiameter 900-1000 km di tata surya. Sedangkan 2 Pallas dan 4 Vesta, orbit keduanya memiliki ukuran diameter yang sama yaitu sekitar 500 km mengelilingi tata surya. Total massa dari asteroid Sabuk Utama diperkirakan sekitar 3.0-3.6×10^21 kg atau 4% dari massanya bulan.
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