  Trojan asteroids are minor planets that share the orbit of a planet about the
Sun and librate around the L4 or L5 Lagrangian points of stability. Although
only three Mars Trojans have been discovered, models suggest that at least ten
times this number should exist with diameters >= 1 km. We derive a model that
constrains optimal sky search areas and present a strategy for the most
efficient use of telescope survey time that maximizes the probability of
detecting Mars Trojans. We show that the Gaia space mission could detect any
Mars Trojans larger than 1 km in diameter, provided the relative motion
perpendicular to Gaia's CCD array is less than 0.40 arcsec per second.
