20-odd years ago, I was married to a rocket scientist whose main job was putting satellites in orbit but who also was part of a think-tank on a manned Mars mission. The funny thing is, what NASA's talking about now for a Mars trip is exactly what she was talking about then. 20+ years and no progress.
There are basically 2 scenarios: a) send everything, people and gear, over at once, on a slow trip; or b) send robot gear first and, a couple years later after you're sure that's all working, send the people fast. Neither alternative, from what I understand, is particularly survivable. You might get the people back alive, but they won't ever have anything like a normal life here again. Or so I've been told by folks who know, or at least thought they knew 20-odd years ago.
This is in terms of the physiological problems of radiation exposure and prolonged low-gravity. That's before you start worrying about the psychological aspects of being stuck in something the size of a dumpster (or 3 dumpsters) for several years with people you're inevitably going to come to hate within that timespan. Now, I put up with being married to that
for 6 years, 2 months, and 12.5 days, usually in very close proximity. So I think it's possible to deal with the psych part without murder for the duration of the mission. It's the health effects of the trip that seem to be the deal-breaker.
The best chance the astronauts would have, as I hear things, is the fast trip to a prefab underground base. But if the robots are skilled enough to build the base, why can't they do all the exploring, too? Then what do you need people there for anyway? And what's the point of building a prefab underground base if you expect the people to go out on the surface a lot?
If you want to see what Mars looks like, go out to the Mojave Desert and put on a pair of those orange sun glasses. Then it looks exactly like Mars, only with the benefits of full gravity, breathable air, and no radiation beyond the powers of a bottle of SPF 15 sunblock. Plus, there are things to study there that are actually alive on the multi-cellular, ambulatory scale, even assuming Mars has some sort of pond scum still living in the rocks. And when you get tired of all that, you can go back home none the worse, and with a tan to show for it.