One of the most basic questions, and one that natural philosophers have pondered for many millennia, concerns humanity's place in the universe: Are we alone? Although the history of this question dates back to the ancient Greeks, and it was surely asked for many years before that, the first inklings of an answer did not come until a few centuries ago, when Copernicus, Kepler, Galileo and Newton demonstrated that other worlds qualitatively similar to our Earth orbit around the Sun.