In the Solar System there is a large belt of small rocky debris going on an orbit around the Sun between Mars and Jupiter at a radius of about 2.8 AU. There are also asteroids in the orbit of Jupiter at Lagrange Points (basically points of gravitational equilibrium between Jupiter and the Sun). There are also Kirkwood Gaps in the Asteroid Belt, caused by gravitational resonance caused by the pull of Jupiter and the Sun, e.g at 3.3 AU (2:1 resonance), at 2.5 AU (3:1 resonance) and at 3 AU (5:2 resonance).
The Galileo space craft visited asteroid Ida and found it to be very irregular in shape. It also found a small moon, 3 to 4 km in size, orbiting the asteroid which was about 50 km in size.
It is possible that an explosion of a planet at 2.8 AU from the Sun created this asteroid belt. Or possibly a planet was going to form from a ring of matter at 2.8 AU but never did and simply clumped together into smaller asteroids and remained that way.