Asteroids are small Solar System bodies that are not comets. The term asteroids historically referred to objects inside the orbit of Jupiter. They have also been called planetoids, especially the larger ones. These terms have historically been applied to any astronomical object orbiting the Sun that did not show the disk of a planet and was not observed to have the characteristics of an active comet, but as small objects in the outer Solar System were discovered, their volatile-based surfaces were found to more closely resemble comets, and so were often distinguished from traditional asteroids. Thus the term asteroid has come increasingly to refer specifically to the small bodies of the inner Solar System within the orbit of Jupiter, which are usually rocky or metallic. They are grouped with the outer bodies—centaurs, Neptune trojans, and trans-Neptunian objects—as minor planets, which is the term preferred in astronomical circles. This article uses the term “asteroid” to the minor planets of the inner Solar System.