SpaceX founder Elon Musk has famously said he’d like to die on Mars — “just not on impact.” But where will humans live in space? That was the focus of a good-natured debate that took place at this week’s “New Space Age” conference at Seattle’s Museum of Flight.

Chris Lewicki, president and CEO of Redmond, Wash.-based Planetary Resources, took up the case for going to asteroids and Mars. Seattle-area entrepreneur Naveen Jain, co-founder and chairman of Florida-based Moon Express, spoke for the moon.