LYCOS RETRIEVER 
Asteroids: Trojan Asteroids
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At about 5.2 A.U., there is a marked increase in the number of asteroids. These asteroids are the Trojans, the asteroids that orbit the Sun with Jupiter. They are not moons of Jupiter, they just share its orbit around the Sun. From about 3.2 A.U. in to about 1.8 A.U. is the realm of the main asteroid belt. Almost all known asteroids orbit within this region between Mars and Jupiter.
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The Trojan family of asteroids are located at either the leading or trailing Lagrangian points in Jupiter's orbit. These are two stable points in the gravitational attraction between Jupiter and the Sun. Both points are populated with a cluster of asteroids that have be captured in these stable points over the life of the Solar System.
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There's no way you will be able to visit all the asteroids, so you'll have to decide which ones you want to see. Groups are usually named after the largest body they contain. For example, the Amor group that live near the Sun or the Trojans next to Jupiter.
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There are ... asteroids that lie in the Lagrange 4 and 5 points of some planets. These are called Trojan asteroids. Mars has 6 known, Jupiter has over 1619 known, and Neptune has 1 known.
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The following drawing is a real plot of the exact planar positions of all inner solar system asteroids with well determined orbits at a specific date in 1997. Note the Trojan Asteroids.
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Trojan Asteroids