Mars orbits with daily repeating ground traces

This paper derives orbits at Mars with ground traces that repeat at the same times every solar day (sol). A relay orbiter in such an orbit would pass over in-situ probes at the same times every sol, ensuring consistent coverage and simplifying mission design and operations. 42 orbits in five dasses are characterized:
14 circular equatorial prograde orbits
14 circular equatorial retrograde orbits
11 circular sun synchronous orbits
2 eccentric equatorial orbits
1 eccentric critically inclined orbit
The paper reports on the performance of a relay orbiter in some of the orbits.