An asteroid is a rocky body which lies in the asteroid belt between Mars and Jupiter. They are typically quite small object. The largest asteroid Ceres has been reclassified as a dwarf planet. read more
In 1596, Johannes Kepler predicted “Between Mars and Jupiter, I place a planet” in his Mysterium Cosmographicum. While analyzing Tycho Brahe's data, Kepler thought that there was too large a gap between the orbits of Mars and Jupiter. read more