Foundation and Earth
was Asimov's
Odyssey,
with Trevise and his crew experiencing the mysteries of the Galaxy and escaping its perils as they try to return (to the ancestral human) home, and Daneel as Penelope. Daneel has no suitors, of course (unless the leaders of the First and Second Foundation, already rejected, can be considered for that role), and the fanciful parallel breaks down in other ways. The novel, divided into seven parts for each of the seven worlds they visit, is as episodic as the
Odyssey,
however, and attempts the same epic cultural justification, in this case the humanization of the Galaxy. In it we can see laid out all the science-fiction virtues: intelligence, cooperation, problem-solving, and concern for future generations and humanity itself, as it fulfills Jack Williamson's definition of space opera: "the expression of a mythic theme of human expansion against an unknown and commonly hostile frontier."