I appreciate your inclusion of asteroids in this article. IMHO it's a often overlooked incentive and resource for catapulting man into space on a permanent basis.
One aspect I see very little talk of is not just the fact that they can be mined for resources but they could also be utilized as a spaceship to take us to Mars. When you talk of spaceships most people visualize sleek almost bullet like vehicles. But for travel in the vacuum of space any shape will work. The Borg cube is just as valid a shape as the more streamline Enterprise.
So IMHO we simply need to pick out a suitable asteroid and send propulsion drones to it. Calculate the needed trajectory for it to end up in a close lunar orbit and fire the propulsion engines, making any course correction when it drew closer as needed. We could then go to work mining it resources but in the process also creating a habitat for sending it to Mars.
Once suitably prepared you simply strap a fission engine on to one side and send it towards Mars. The asteroid would supply shielding, habitat, resources, ect for not only the voyage to Mars but once there and in a stable orbit become a station to base exploration and eventual colonization from.
While I admire the many plans to do it sooner using a more conventional system I also think they're quite fool hardy. Musk will get his wish of dying on Mars if he chooses to utilize conventional means of getting there. Mars is simply too far away to utilize those means and we need to be smart about how we pursue this goal IMHO.