Questions about Trojan Asteroids, asteroids that co-orbit major planets.

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Asteroids in langrangian Points 4 & 5

There are Asteroids "trapped" in Jupiters Langrange points 4 and 5 called trojans and greeks. Are there any asteroids in the earths L4 and L5? Have we seen asteroids in Lagrange points of the earth ...
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What are Trojan Asteroids and where are they located?

Asides from the main Asteroid Belt, there are Trojan Asteroids - what are these and where are they located?