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You'll also need Mission to the Asteroids to colonize an asteroid, except for the 2 that are within Mars' orbit, which just need Mission to Mars, or the ones past the asteroid belt, which require other Mission techs. You will also have to survey the asteroid before you can use the Outpost Kit, which can be done either with a probe, or by equipping the ship with the Mobile Space Science Lab, which needs the Space Research global tech.
Ion Drive or Grid Drive (Grid is better) are efficient, long-range drives. If you get High Energy Electromagnetic Drives, then you can use the Lorentz or Helicon drive (Helicon is the best of these 4, while Lorentz has a better EV than the Ion Drive, but not the Grid Drive)