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An asteroid of any size
"1979 Tsunami generation by pelagic planetoid impact"
An asteroid-like body in an orbit beyond the asteroid belt, such as a centaur or Kuiper belt object
A larger, planetary, body in orbit around the Sun, such as Vesta or (candidate) dwarf planets such Eris or Sedna
"1991 Optimal trajectories for an ion driven spacecraft from earth to the planetoid Vesta"
A dwarf planet