mars has four known co-orbital asteroids (5261 eureka, 1999 uj7, 1998 vf31, and 2007 ns2, all at the lagrangian points), and jupiter has many (more than 1000 known objects, the trojan asteroids); there are also other small co-orbital moons in the saturnian system: telesto and calypso with tethys, and helene and polydeuces with dione. however, none of these follow horseshoe orbits.