about their Lagrangian point had a 3:1 ratio to the period at which the position where Jupiter passes Saturn circulated relative to its perihelion. This process was also reversible allowing a fraction of the numerous objects scattered inward by Uranus and Neptune to enter this region and be captured as Jupiter's and Saturn's orbits separated. These new trojans had a wide range of inclinations, the result of multiple encounters with the giant planets before being captured. This process can also occur later when Jupiter and Saturn cross weaker resonances. In a revised version of the Nice model Jupiter trojans are captured when Jupiter encounters an ice giant during the instability. In this version of the Nice model one of the ice giants (Uranus, Neptune, or a lost fifth planet) is scattered inward onto a Jupiter-crossing orbit and is scattered outward by Jupiter causing the orbits of Jupiter and Saturn to quickly separate. When Jupiter's semi-major axis jumps during these encounters existing Jupiter trojans can escape and new objects with semi-major axes similar to Jupiter's new semi-major axis are captured. Following its last encounter the ice giant can pass through one of the libration points and perturb their orbits leaving this libration point depleted relative to the other. After the encounters end some of these Jupiter trojans are lost and others captured when Jupiter and Saturn are near weak mean motion resonances such as the 3:7 resonance via the mechanism of the original Nice model. The long-term future of the Jupiter trojans is open to question, because multiple weak resonances with Jupiter and Saturn cause them to behave chaotically over time. Collisional shattering slowly depletes the Jupiter trojan population as fragments are ejected. Ejected Jupiter trojans could become temporary satellites of Jupiter or Jupiter-family comets. Simulations show that the orbits of up to 17% of Jupiter trojans are unstable over the age of the Solar System. Levison et al. believe that roughly 200 ejected Jupiter trojans greater than 1 km in diameter might be travelling the Solar System, with a few possibly on Earth-crossing orbits. Some of the escaped Jupiter trojans may become Jupiter-family comets as they approach the Sun and their surface ice begins evaporating. Exploration On 4 January 2017 NASA announced that Lucy was selected as one of their next two Discovery Program missions. Lucy is set to explore seven Jupiter trojans. It launched on October 16, 2021, and