If no tests are found that would match a given JUnit category, mvn test should not fail in multi-module project

In a multi-module project, I configured Surefire to execute tests of a selected JUnit category only. Unfortunately, not all modules contain tests in that category, which makes mvn test fail:

Tests in error:
initializationError(org.junit.runner.manipulation.Filter): No tests found matching *foo.junit.categories.SlowTests from org.junit.runner.Request$1@15a

If a module does not contain any test that would match the given category, Surefire should continue instead. Note that specifying -DfailIfNoTests=false does not help in that case.