SpaceX announced all their Mars plans today.
In 2018 they'll send their first Dragon capsule to Mars, and do it again in 2020. Inside of 10 years they could be launching a vehicle larger than the Saturn 5, twice. Once to put a craft into orbit and then again to launch a craft to refuel the already launched vehicle. Then the first craft heads to Mars.
Things don't always go smoothly though, I expect this to be more of a 20 year milestone.
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They want to have a very deliberate cadance and regularity to the missions. Mars is close enough for this baout every 26 months, so they envision launching a fleet of ships to all transit there at some point (he mentioned 'like Battlestar Galactica's fleet'). In the end though, he wants there to always be a rocket to Mars launching 'soon' and for us to truly become a multi-planet species.
He explained that because they are using propulsion and not wings that require a runway or parachutes that require atmosphere, this approach works for pretty much anywhere in the solar system. They'd need to just set up refueling platforms. He said it would even work on Earth to a degree, you could get from say a floating platform off of New York to anywhere in the world in 25 minutes.

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