A Detailed Picture of the (93) Minerva Triple System

International audience; We developed an orbital model of the satellites of (93) Minerva based on Keck II AO observations recorded in 2009 and a mutual event between one moon and the primary detected in March 2010. Using new lightcurves we found an approximated ellipsoid shape model for the primary. With a reanalysis of the IRAS data, we derived a preliminary bulk density of 1.5±0.2 g/cc. We will present a detailed analysis of the system, including a 3D shape model of the 93 Minerva primary derived by combining our AO observations, lightcurve, and stellar occultations.