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I'm also building Guard Posts farther away: we'll see.
There's two different strategies you can use to remove the fog to see the map. One is to research "leadership" which i think is about four research steps from the beginning. When you have this you can upgrade your colonies main centre and it will automatically scan about 50% of the hidden map.
Or, if you are like me and would rather put the research into other things to begin with, you can just build three scouting towers, one at the furthermost western, eastern and northern points of the map. The materials aren't much and as soon as they've scanned 100% you can demolish them to get your workers back and some of the materials. It's a very quick process providing you have three spare workers, or do one at a time if you don't. Just watch out for wild animals out there as you may need to send a specialist to deal with them.
I finally found concrete in a previously "fogged" area.
Good stuff!