90 pagesThe Gaia space mission to be operated in early 2012 by the European Space Agency (ESA), will make a huge step in our knowledge of the Sun's neighbor-hood, up to the Magellanic clouds. Somewhat closer, Gaia will also provide ma jor improvements in the science of asteroids, and more generally to our Solar System, either directly or indirectly. Gaia is a scanning survey telescope aimed to perform high accuracy astrometry and photometry. More specifically it will provide physical and dynamical characterization of asteroids, a better knowledge of the solar system composition, formation and evolution, local test of the general relativity, and linking the dynamical reference frame to the kinematical ICRS. We develop here the general aspects of asteroid observations and the scientific harvest in perspective of what was achieved in the pre-Gaia era. In this lecture we focus on the determination of size of asteroids, shape and rotation, taxonomy, orbits and their improvements with historical highlight, and also the dynamical model in general
