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The HARPS search for southern extra-solar planets XVIII. An Earth-mass planet in the GJ 581 planetary system

The GJ 581 planetary system was already known to harbour three planets, including two super-Earths planets which straddle its habitable zone. We report here the detection of an additional planet -- GJ 581e -- with a minimum mass of 1.9 M_earth. With a period of 3.15 days, it is the innermost planet of the system and has a ~5% transit probability. We also correct our previous confusion of the orbital period of GJ 581d (the outermost planet) with a one-year alias, thanks to an extended time span and many more measurements. The revised period is 66.8 days, and locates the semi-major axis inside the habitable zone of the low mass star. The dynamical stability of the 4-planet system imposes an upper bound on the orbital plane inclination. The planets cannot be more massive than approximately 1.6 times their minimum mass.