Martin Marietta put together a minimum-viable architecture called Mars Direct
That happened 24 years ago. Also the Zubrin paper gave no cost estimates.
True on both counts, although I believe the Mars Direct price-tag came from the same agency/group that priced out the 90 day report.
Design Reference Mission 3 was remarkably similar to Mars Direct, but DRM 4 and 5 have grown a bit from the minimalist approach, although they still revolve around In Situ Resource Utilization, just as Mars Direct did. DRM 5 is especially confusing, and it will be a year or two until we see DRM 6, so I actually think the 2011 edition of The Case For Mars is about the best book out there for demonstrating that it can be done. O...
Epic work, it's always fascinates me when author explores the topic so deep, that doesn't know where to begin, so finally starts with the whole history of the universe or the existence of human race.
http://waitbutwhy.com/2015/08/how-and-why-spacex-will-colonize-mars.html