abstract:Inner Solar System diagram showing the Trojan asteroids (coloured green) in front of and behind Jupiter along its orbital path. Also shown is the asteroid belt (white) between the orbits of Mars and Jupiter and the Hilda family of asteroids (brown).
The largest planet in the solar system, Jupiter, has these cloud of Trojan asteroids that straddle its orbit, so that would seem to violate a plain reading of the definition.