Well, they are space rocks shooting across the skies at great speed. As per NASA's definition, asteroids are rocky leftovers from the time when our solar system was taking shape some 4.6 bn years ago.
Notably, most asteroids reside in a space called asteroid belt. This lies in the space between Mars and Jupiter.
Having said that, this did not become a permanent residence for many asteroids that got dislodged from it due to various reasons, including the gravitational pull of passing planets. NASA has it that the orbits of these asteroids can actually be affected by Jupiter's gravity. And to a lesser extent, Mars too has a role.
Source: Found here
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