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It took a long time to flesh out the map of the Earth. For most of human history travelling any distance has been slow, arduous and frequently dangerous. In California Spanish missions were spaced about 30 miles apart because that was a day's travel on horseback. In these days of airplanes, automobiles, and passports that is a hard fact to grasp. Our ancestors had a greatly diminished horizon.
Of course, there were always people who wandered far to see what was beyond their homeland's borders. The Romans and Chinese knew of each other, the Vikings pushed west to Newfoundland, The Polynesians opened up the South Pacific, the Chinese explored the Indian Ocean, and so forth.
However, when we think of explorers we tend to think of the Age of Exploration -- that period when Europeans spread out and explored the globe, leading to the colonization of the New World, the seizing India, scrambling for Africa, and imposing Concession areas in China.
Regardless of the outcome (and cultural admixtures are frequently very disruptive) the original explorers are quite fascinating. To leave one's home on a long and uncertain trip just so see what's there is a special sort of an ambition.
