In 1917, the Japanese astronomer Kiyotsugu Hirayama began to study asteroid motions. By plotting the mean orbital motion, inclination, and eccentricity of a set of asteroids, he discovered several distinct groupings. In a later paper he reported a group of three asteroids associated with Pallas, which became named the Pallas family, after the largest member of the group. Since 1994 more than 10 members of this family have been identified, with semi-major axes between 2.50–2.82  AU and inclinations of 33–38°. The validity of the family was confirmed in 2002 by a comparison of their spectra.