Watched the Mission Odyssey series a ways back- one of Marathon's most obscure. It centers on Ulysses and his crew dealing with villains, including Poseidon, and getting home.

Penelope's his wife back home, and she has a brief scene at the start of each ep. w/her son.
They're used to set up the adventure. In the last eps. she's involved in the main story.

The only fanart here I've found for this show is Nissa. 

Rights to Marathon.