In the case of our solar system Jupiter prevented any planet from forming between Mars and Jupiter. Jupiter is just so massive that in the early solar system its gravity caused caused these early planetesimals to speed up and the vast majority of the early asteroid belt’s mass (99.9%) was ejected from the solar system. The mass of the asteroid belt nowadays is very small: around 4% of our Moon. Jupiter still messes with the asteroid belts. There are regions within the asteroid belts where this is a lack of asteroids because of Jupiter.
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