Jupiter and Saturn formed in a few million years from a gas-dominated protoplanetary disk, and were susceptible to gas-driven migration of their orbits on timescales of only approximately 100,000 years. Hydrodynamic simulations show that these giant planets can undergo a two-stage, inward-then-outward, migration. The terrestrial planets finished accreting much later and their characteristics, including Mars' small mass, are best reproduced by starting from a planetesimal disk with an outer edge at about one astronomical unit from the Sun (1 AU is the Earth-Sun distance). Here we report simulations of the early Solar System that show how the inward migration of Jupiter to 1.5 AU, and its subsequent outward migration, lead to a planetesimal disk truncated at 1 AU; the terrestrial planets then form from this disk over the next 30-50 million years, with an Earth/Mars mass ratio consistent with observations. Scattering by Jupiter initially empties but then repopulates the asteroid belt, with inner-belt bodies originating between 1 and 3 AU and outer-belt bodies originating between and beyond the giant planets. This explains the significant compositional differences across the asteroid belt. The key aspect missing from previous models of terrestrial planet formation is the substantial radial migration of the giant planets, which suggests that their behaviour is more similar to that inferred for extrasolar planets than previously thought.

A low mass for Mars from Jupiter's early gas―driven migration

http://vigarano.ep.sci.hokudai.ac.jp/shogo/adv_geochemistry2015/Week%204/Background%20reading/Bus%20and%20Binzel%202002.pdf

Phase II of the Small Main-Belt Asteroid Spectroscopic Survey: A Feature-Based Taxonomy

Determining the source(s) of hydrogen, carbon, and nitrogen accreted by Earth is important for understanding the origins of water and life and for constraining dynamical processes that operated during planet formation. Chondritic meteorites are asteroidal fragments that retain records of the first few million years of solar system history. The deuterium/hydrogen (D/H) values of water in carbonaceous chondrites are distinct from those in comets and Saturn’s moon Enceladus, implying that they formed in a different region of the solar system, contrary to predictions of recent dynamical models. The D/H values of water in carbonaceous chondrites also argue against an influx of water ice from the outer solar system, which has been invoked to explain the nonsolar oxygen isotopic composition of the inner solar system. The bulk hydrogen and nitrogen isotopic compositions of CI chondrites suggest that they were the principal source of Earth’s volatiles.

https://science.sciencemag.org/content/sci/337/6095/721.full.pdf

The Provenances of Asteroids, and Their Contributions to the Volatile Inventories of the Terrestrial Planets

Hf-W chronology of the accretion and early evolution of asteroids and terrestrial planets

https://www.boulder.swri.edu/~bottke/Reprints/Bottke_Icarus_2005_179_63-94_Linking_Collision_Dynamics_MB.pdf

Linking the collisional history of the main asteroid belt to its dynamical excitation and depletion

The distribution of compositional types among the asteroids is found to vary systematically with heliocentric distance. Seven distinct peaks in the relative proportion of the compositional types E, R, S, M, F, C, P, and D are found from 1.8 to 5.2 astronomical units. The inferred composition of the asteroids in each semimajor axis region is consistent with the theory that the asteroids accreted from the solar nebula at or near their present locations.

https://science.sciencemag.org/content/sci/216/4553/1405.full.pdf

Compositional Structure of the Asteroid Belt

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Compositional Structure of the Asteroid Belt