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The use of space techniques continues to play a key role in the advance of astrophysics by providing access to the entire electromagnetic spectrum from the radio observations to the high energy gamma rays. The increasing size, complexity and cost of large space observatories places a growing emphasis on international collaboration. Furthermore, combining existing and future datasets from space and ground based observatories is an emerging mode of powerful and relatively inexpensive research to address problems that can only be tackled by the application of large multi-wavelength observations. If the present set of space and ground-based astronomy facilities today is impressive and complete, with space and ground based astronomy telescopes nicely complementing each other, the situation becomes concerning and critical in the next 10-20 years. In fact, only a few main space missions are planned, possibly restricted to JWST and, perhaps, WFIRST and SPICA, since no other main facilities are already recommended. A "Working Group on the Future of Space Astronomy" was established at the 38th COSPAR Assembly held in Bremen, Germany in July 2010. The purpose of this Working Group was to establish a roadmap for future major space missions to complement future large ground-based telescopes. This paper presents the results of this study including a number of recommendations and a road map for the next decades of Space Astronomy research.