Formation of pebble-pile planetesimals
Asteroids and Kuiper belt objects are remnant planetesimals from the epoch of planet formation. The first stage of planet formation is the accumulation of dust and ice grains into mm-cm-sized pebbles. These pebbles can clump together through the streaming instability and form gravitationally bound pebble `clouds'. Pebbles inside such a cloud will undergo mutual collisions, dissipating energy into