Asteroid 21311, Servius, was discovered on December 4, 1996 by Vincenzo Silvano Casulli at Colleverde di Guidonia, Roma province, Italy. It has a period of 3 years, 218 days.
It was named for Servius Tullius, sixth king of Rome, who reigned from 578 to 535 BCE. He constructed the first wall around the city.
Servius Tullius as envisioned by 16th-century French publisher Guillaume Rouillé
The meaning of asteroid Servius seems to be: serving, service, to be of service, servile; possibly, wall or fence building, or homeland security.