Cruithne was discovered on October 10, 1986, by Duncan Waldron on a photographic plate taken with the UK Schmidt Telescope at Siding Spring Observatory, Coonabarabran, Australia.
It was not until 1997 that its unusual orbit was determined by Paul Wiegert and Kimmo Innanen, working at York University in Toronto, and Seppo Mikkola, working at the University of Turku in Finland [REF].