Of the Solar System's eight planets and its nine most likely dwarf planets, six planets and seven dwarf planets are known to be orbited by at least 300 natural satellites, or moons. At least 19 of them are large enough to be gravitationally rounded; of these, all are covered by a crust of ice except for Earth's Moon and Jupiter's Io.[1] Several of the largest ones are in hydrostatic equilibrium and would therefore be considered dwarf planets or planets if they were in direct orbit around the Sun and not in their current states (orbiting planets or dwarf planets).
Moons are classed into two separate categories according to their orbits: regular moons, which have prograde orbits (they orbit in the direction of their planets' rotation) and lie close to the plane of their equators, and irregular moons, whose orbits can be pro- or retrograde (against the direction of their planets' rotation) and often lie at extreme angles to their planets' equators. Irregular moons are probably minor planets that have been captured from surrounding space. Most irregular moons are less than 10 kilometres (6.2 mi) in diameter.
The earliest published discovery of a moon other than Earth's was by Galileo Galilei, who discovered the four Galilean moons orbiting Jupiter in 1610. Over the following three centuries, only a few more moons were discovered. Missions to other planets in the 1970s, most notably the Voyager 1 and 2 missions, saw a surge in the number of moons detected, and observations since the year 2000, using mostly large, ground-based optical telescopes, have discovered many more, all of which are irregular.