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From the viewpoint of planet formation in the Solar System, Main Belt asteroids are the remnants of the so-called planetesimal population, the building bricks of planets that formed ubiquitously all over the Solar Nebula. Over the last years evidence has grown that planetesimals formed big from the gravitational collapse of a local accumulation of mm–cm sized so-called pebbles, rather than small, as models of collisional coagulation would suggest. The precise size distribution of original planetesimals remains a central question in planetology. An asteroid (and other small bodies) could be a fragment of a larger parent body or it could be an original planetesimal. Here, we outline observational and theoretical constraints on the formation of MBAs. We discuss the current state of research on the size–frequency distribution, the ages of asteroids, and the implications on the formation of asteroids. We review planetesimal formation theory, specifically focusing on the initial sizes of primordial planetesimals.
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