Most people, including most people who are in favor of human expansion beyond the Earth, don't realize just how rich is the Solar System. They tend to look only at the major terrestrial planets and assume that the only place into which we can expand without interstellar travel is Mars, because there are only three such planets in our Solar System
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Of course, if we learn how to do mind uploading, then in principle any place capable of hosting computers (or even robotic bodies) is good.
And there's something about the idea of small habitats built into asteroids that I find strongly appealing on an emotional level. Never mind the fact that there may not be much point in them.
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As technology advances, the cost relative to per capita income of building any required level of housing or recreation in an environment at a given level of inhospitability drops. Colonization would start with small research and mining outposts, but it would not necessarily end there -- worlds with rich resources would attract further research and mining outposts, which in turn would attract merchants to supply them, farmers (*) to feed them, and all the sorts of support personnel these people might themselves require.
I think that every one of the worlds I listed will in (many centuries) become the home of millions, even billions, of human beings.
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(*) "Farms" of course in this context meaning volatiles-collection, processing and hydroponics food production operations.
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