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Planet Satellites Comments
Mercury None Mercury doesn't have any Quasi-Satellites but Venus's is a Mercury-Crosser
Venus 2002 VE68 Venus has a quasi-satellite, 2002 VE68. This asteroid is also a Mercury-crosser and Earth-crosser; it seems to have been a "companion" to Venus for the last 7000 years or so only, and is destined to be ejected from this orbital arrangement about 500 years from now.
Earth 2004 GU92010 SO162016 HO3

2006 FV35

Currently, February 2013, Earth has three known quasi-satellites.3753 Cruithne2002 AA29, and 2003 YN107 are minor planets in a horseshoe orbit that can transition into a quasi-satellite orbit.2003 YN107 was in a quasi-satellite orbit from 1996 to 2006. 2002 VE68 is an Earth-crosser
Mars None In early 1989, the Soviet Phobos 2 spacecraft was injected into a quasi-satellite orbit around the Martian moon Phobos, with a mean orbital radius of about 100 kilometres (62 mi) from Phobos. According to computations, it could have then stayed trapped in the vicinity of Phobos for many months. The spacecraft was lost due to a malfunction of the on-board control system.
Jupiter None Jupiter has no known quasi-satellites, but due to the size of Jupiter and its proximity to Saturn, a quasi-satellite could stay  

in a stable resonance for a maximum of about a million years

Saturn None Like Jupiter, Saturn has no known quasi-satellites, but due to its size and its proximity to Jupiter, a quasi-satellite could  

stay in a stable resonance for a maximum of about 100,000 years. 

Uranus None Uranus has no known quasi-satellites, but could, theoretically, retain them for long periods; possibly five billion years or  

more. 

Neptune 2007 RW10 Neptune's one known quasi-satellite has been in this state for approximately 12,500 years, and is likely to remain there  

for a further 12,500 years.  Neptune, like Uranus, could, theoretically, retain quasi-satellites for upwards of five 5 billion  

years. 

Pluto 1994 JR1 The gravitational influence of Neptune has forced this object into a cyclic, quasi-satellite relationship with Pluto.  It is likely  

that this object becomes a quasi-satellite roughly once every two million years, and remains one for about 350,000 years.

Ceres ? May have accidental ones
Vesta ? May have accidental ones

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