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No they cannot form a planet for two reasons. Firstly, there just isn't enough stuff in the asteroid belt to form a decent sized planet. and Secondly because the asteroids are smallish and "next door" to the giant planet Jupiter. The orbits are quite badly disturbed in the long term by Jupiter and this creates zones of avoidance that are close to resonance ratios and to coalesce into one planet asteroid would have to cross these zones of avoidance