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Published online by Cambridge University Press: 12 April 2016
Jupiter, Saturn, and Uranus have 15 (or possibly up to 18) regular satellites (i.e., with eccentricities and inclinations near zero) which are generally assumed to have been formed along with the planets and near their present orbits. We present evidence for their having been formed much later in the history of the solar system and in initial orbits very close to their respective planets. They then evolved to their present orbits, principally by tidal friction. Their source may be captured material, possibly of cometary origin.