a b s t r a c tWe present results from a suite of N-body simulations that follow the formation and accretion history of the terrestrial planets using a new parallel treecode that we have developed. We initially place 2000 equal size planetesimals between 0.5 and 4.0 AU and the collisional growth is followed until the completion of planetary accretion (>100 Myr). A total of 64 simulations were carried out to explore sensitivity to the key parameters and initial conditions. All the important effect of gas in laminar disks are taken into account: the aerodynamic gas drag, the disk-planet interaction including Type I migration, and the global disk potential which causes inward migration of secular resonances as the gas dissipates. We vary the initial total mass and spatial distribution of the planetesimals, the time scale of dissipation of nebular gas (which dissipates uniformly in space and exponentially in time), and orbits of Jupiter and Saturn. We end up with 1-5 planets in the terrestrial region. In order to maintain sufficient mass in this region in the presence of Type I migration, the time scale of gas dissipation needs to be 1-2 Myr. The final configurations and collisional histories strongly depend on the orbital eccentricity of Jupiter. If today's eccentricity of Jupiter is used, then most of bodies in the asteroidal region are swept up within the terrestrial region owing to the inward migration of the secular resonance, and giant impacts between protoplanets occur most commonly around 10 Myr. If the orbital eccentricity of Jupiter is close to zero, as suggested in the Nice model, the effect of the secular resonance is negligible and a large amount of mass stays for a long period of time in the asteroidal region. With a circular orbit for Jupiter, giant impacts usually occur around 100 Myr, consistent with the accretion time scale indicated from isotope records. However, we inevitably have an Earth size planet at around 2 AU in this case. It is very difficult to obtain spatially concentrated terrestrial planets together with very late giant impacts, as long as we include all the above effects of gas and assume initial disks similar to the minimum mass solar nebular.

We review the state of the field of terrestrial planet formation with the goal of understanding the formation of the inner Solar System and low-mass exoplanets. We review the dynamics and timescales of accretion from planetesimals to planetary embryos and from embryos to terrestrial planets. We discuss radial mixing and water delivery, planetary spins and the importance of parameters regarding the disk and embryo properties. Next, we connect accretion models to exoplanets. We first explain why the observed hot Super Earths probably formed by in situ accretion or inward migration. We show how terrestrial planet formation is altered in systems with gas giants by the mechanisms of giant planet migration and dynamical instabilities. Standard models of terrestrial accretion fail to reproduce the inner Solar System. The "Grand Tack" model solves this problem using ideas first developed to explain the giant exoplanets. Finally, we discuss whether most terrestrial planet systems form in the same way as ours, and highlight the key ingredients missing in the current generation of simulations.Comment: Reduced to 24 pages, 9 figures, 2 tables. Accepted for publication as a chapter in Protostars and Planets VI, University of Arizona Press (2014), eds. H. Beuther, R. Klessen, C. Dullemond, Th. Henning. (Updated references

Remnant planetesimals might have played an important role in reducing the orbital eccentricities of the terrestrial planets after their formation via giant impacts. However, the population and the size distribution of remnant planetesimals during and after the giant impact stage are unknown, because simulations of planetary accretion in the runaway growth and giant impact stages have been conducted independently. Here we report results of direct N-body simulations of the formation of terrestrial planets beginning with a compact planetesimal disk. The initial planetesimal disk has a total mass and angular momentum as observed for the terrestrial planets, and we vary the width (0.3 and 0.5 AU ) and the number of planetesimals (1000Y5000). This initial configuration generally gives rise to three final planets of similar size, and sometimes a fourth small planet forms near the location of Mars. Since a sufficient number of planetesimals remains, even after the giant impact phase, the final orbital eccentricities are as small as those of the Earth and Venus.

Abstract.We have undertaken a thorough dynamical investigation of five extrasolar planetary systems using extensive numerical experiments. The systems Gl 777 A, HD 72659, Gl 614, 47 Uma and HD 4208 were examined concerning the question of whether they could host terrestrial-like planets in their habitable zones (HZ). First we investigated the mean motion resonances between fictitious terrestrial planets and the existing gas giants in these five extrasolar systems. Then a fine grid of initial conditions for a potential terrestrial planet within the HZ was chosen for each system, from which the stability of orbits was then assessed by direct integrations over a time interval of 1 million years. For each of the five systems the 2-dimensional grid of initial conditions contained 80 eccentricity points for the Jovian planet and up to 160 semimajor axis points for the fictitious planet. The computations were carried out using a Lie-series integration method with an adaptive step size control. This integration method achieves machine precision accuracy in a highly efficient and robust way, requiring no special adjustments when the orbits have large eccentricities. The stability of orbits was examined with a determination of the Rényi entropy, estimated from recurrence plots, and with a more straightforward method based on the maximum eccentricity achieved by the planet over the 1 million year integration. Additionally, the eccentricity is an indication of the habitability of a terrestrial planet in the HZ; any value of e > 0.2 produces a significant temperature difference on a planet's surface between apoapse and periapse. The results for possible stable orbits for terrestrial planets in habitable zones for the five systems are: for Gl 777 A nearly the entire HZ is stable, for 47 Uma, HD 72659 and HD 4208 terrestrial planets can survive for a sufficiently long time, while for Gl 614 our results exclude terrestrial planets moving in stable orbits within the HZ. Studies such as this one are of primary interest to future space missions dedicated to finding habitable terrestrial planets in other stellar systems. Assessing the likelihood of other habitable planets, and more generally the possibility of other life, is the central question of astrobiology today. Our investigation indicates that, from the dynamical point of view, habitable terrestrial planets seem to be compatible with many of the currently discovered extrasolar systems. they could host additional terrestrial-like planets in their habitable zones (=HZ).Since the discovery of the first extrasolar planetary system about 10 years ago (Mayor & Queloz 1995), a major point of dynamical investigations has been the determination of stable regions in extrasolar planetary systems, where additional planets on stable orbits could exist. Today we know about 105 planetary systems with 120 planets, where 13 systems have more than one planet (both confirmed and unconfirmed cases).Article published by EDP Sciences and available at