Asteroids orbit the sun and are smaller than planets but larger than meteoroids. They formed in the asteroid belt between Mars and Jupiter but gravitational forces prevented them from forming a planet. Meteorites originate from asteroids and comets and survive atmospheric entry and impact, appearing as meteors and shooting stars. Ceres was the first asteroid discovered and is located in the asteroid belt, while asteroids can be classified based on their composition such as chondrites, achondrites, iron, and stony-iron meteorites.