What are asteroids? How are they related to comets?
Asteroid is a star-fish like rock. A comets' composition is a large and tenuous coma of gas and dust surrounding a small but dense nucleus. Comets have elongated orbits.
Asteroids' orbits are close to orbits of planets, and so, their periods will be close to the period of the close by planet.
Comets' orbits are highly eccentric and are quite elongated with eccentricities closer to 1 of parabola.
Like Trojans, asteroids might be related to planets.Comets might be directly related to the Sun.