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A systematic process involving first of all the development of Strong AI, along with Nanobots here on Earth, and of course, simultaneous hope that we would survive till these are developed. There is no sense in sending humans anywhere now beyond the moon, for the known fact that they would not survive even on one of our closest planets, Mars. The patient development of these technologies and a consequent mission program to send Nanobots/Robots to the same would be more 'ethical' and practical, though the development of these technologies itself, if ethical or not, remains a debate. Also, there are challenges which we have not solved as yet, so let's just wait.
Bottom line, humans first? Hands down no!
But expansion in outer space? Hell yeah!