structural:expansion, information:filtering
Terminology

In 2006, the International Astronomical Union (IAU) introduced the currently preferred broad term small Solar System body, defined as an object in the Solar System that is neither a planet, a dwarf planet, nor a natural satellite; this includes asteroids, comets, and more recently discovered classes. According to IAU, "the term 'minor planet' may still be used, but generally, 'Small Solar System Body' will be preferred."

Historically, the first discovered asteroid, Ceres, was at first considered a new planet. It was followed by the discovery of other similar bodies, which with the equipment of the time appeared to be points of light like stars, showing little or no planetary disc, though readily distinguishable from stars due to their apparent motions. This prompted the astronomer Sir William Herschel to propose the term asteroid, coined in Greek as ἀστεροειδής, or asteroeidēs, meaning 'star-like, star-shaped', and derived from the Ancient Greek ἀστήρ astēr 'star, planet'. In the early second half of the 19th century, the terms asteroid and planet (not always qualified as "minor") were still used interchangeably.

Traditionally, small bodies orbiting the Sun were classified as comets, asteroids, or meteoroids, with anything smaller than one meter across being called a meteoroid. The term asteroid, never officially defined, but can be informally used to mean "an irregularly shaped rocky body orbiting the Sun that does not qualify as a planet or a dwarf planet under the IAU definitions". The main difference between an asteroid and a comet is that a comet shows a coma (tail) due to sublimation of its near-surface ices by solar radiation. A few objects were first classified as minor planets but later showed evidence of cometary activity. Conversely, some (perhaps all) comets are eventually depleted of their surface volatile ices and become asteroid-like. A further distinction is that comets typically have more eccentric orbits than most asteroids; highly eccentric asteroids are probably dormant or extinct comets.

The minor planets beyond Jupiter's orbit are sometimes also called "asteroids", especially in popular presentations. However, it is becoming increasingly common for the term asteroid to be restricted to minor planets of the inner Solar System. Therefore, this article will restrict itself for the most part to the classical asteroids: objects of the asteroid belt, Jupiter trojans, and near-Earth objects.

For almost two centuries after the discovery of Ceres in 1801, all known asteroids spent most of their time at or within the orbit of Jupiter, though a few, such as 944 Hidalgo, ventured farther for part of their orbit. Starting in 1977 with 2060 Chiron, astronomers discovered small bodies that permanently resided further out than Jupiter, now called centaurs. In 1992, 15760 Albion was discovered, the first object beyond the orbit of Neptune (other than Pluto); soon large numbers of similar objects were observed, now called trans-Neptunian object. Further out are Kuiper-belt objects, scattered-disc objects, and the much more distant Oort cloud, hypothesized to be the main reservoir of dormant comets. They inhabit the cold outer reaches of the Solar System where ices remain solid and comet-like bodies exhibit little cometary activity; if centaurs or trans-Neptunian objects were to venture close to the Sun, their volatile ices would sublimate, and traditional approaches would classify them as comets.

The Kuiper-belt bodies are called "objects" partly to avoid the need to classify them as asteroids or comets. They are thought to be predominantly comet-like in composition, though some may be more akin to asteroids. Most do not have the highly eccentric orbits associated with comets, and the ones so far discovered are larger than traditional comet nuclei. Other recent observations, such as the analysis of the cometary dust collected by the Stardust probe, are increasingly blurring the distinction between comets and asteroids, suggesting "a continuum between asteroids and comets" rather than a sharp dividing line.

In 2006, the IAU created the class of dwarf planets for the largest minor planets—those massive enough to have become ellipsoidal under their own gravity. Only the largest object in the asteroid belt has been placed in this category: Ceres, at about 975 km (606 mi) across.