A mission to Mars will be launched within the next 10 years, according to Tesla Motors CEO and SpaceX founder Elon Musk.

Musk said he is hopeful of a manned mission to the Red Planet by 2024, even if NASA isn't.

"I'm hopeful that the first people could be taken to Mars in 10 to 12 years, I think it's certainly possible for that to occur," said Musk, during an interview with CNBC. "But the thing that matters long-term is to have a self-sustaining city on Mars, to make life multiplanetary."

Musk said he is currently bidding for a NASA contract against other established firms, like Boeing.

SpaceX's Dragon V2 could potentially be the next crew carrier headed for the International Space Station.

If SpaceX doesn't get the contract, Musk said he still plans on working hard to put humans on Mars.

"It's possible that we may not win the commercial crew contract," said Musk, according to CNBC. "We'll do our best to continue on our own, with our own money. We would not be where we are today without the help of NASA."

Earlier this year, NASA's chief scientist Ellen Stofan outlined plans for an eventual mission to Mars.

"To unambiguously settle the questions of whether there was life on Mars it will take scientists down on the surface," Stofan said while speaking at the Natural History Museum recently.

She added that the technology needed to send humans to the Red Planet just isn't ready yet.

"We're working to reduce the risks so that people can arrive on Mars happy and healthy and ready to work."

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