Mars has been in space for as long as any other planet, such as, earth.
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Mars has been in space since it formed approximately 4.6 billion years ago. It orbits the Sun just like Earth and other planets in our solar system.
Yes, several space ships have been sent to Mars by different space agencies such as NASA, ESA, and ISRO. Some of the most notable missions include the Mars rovers like Perseverance and Curiosity, as well as orbiters like the Mars Reconnaissance Orbiter and MAVEN.
There have been no human space missions to Mars. The only missions to Mars to date have been through flybys with space craft, orbiters, and land rovers.
Yes, several spacecraft have visited Mars. These include the Mars rovers (such as Curiosity and Perseverance), landers (such as InSight), and orbiters (such as the Mars Reconnaissance Orbiter and MAVEN) sent by various space agencies, including NASA and the European Space Agency. These missions have provided valuable data about the planet's atmosphere, geology, and potential for past habitability.
The best thing to travel in would be a space ship. It is a long way to the planet of Mars.
No human being has ever walked on any astronomical body except the Earth and the moon. At its closest approach to Earth, Mars is roughly 140 times farther from us than the moon is. Man-made robotic hardware has been placed on the surface of Mars, but nothing from Mars has ever been brought back to Earth.