I happened to dig up some fascinating pictures and drama of spacecraft making asteroid fly-bys, most successfully Galileo, which for instance found that the 50 km asteroid Ida had a cute little 1.5 km moon of its own, Dactyl:
Cute! More about that, the biggest explosion ever photographed, and the weird "safe mode" glitches that have plagued several asteroid landing attempts, including the disastrously unlucky Japanese probe Hayabusa--which against all odds is still limping home, and hopes to deliver actual asteroid bits back to Earth next summer...although they aren't 100% sure the return capsule captured anything in the two abortive landing attempts--in the article.
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