1. A method of commanding a remote vehicle, the method comprising: constructing a kinodynamic tree by adding nodes that represent a fixed difference in time from a current time, wherein each node is added by assuming a command change is applied during a given time step and is integrated through a forward dynamics model and a forward kinematic model of the remote vehicle; executing a command on a controller of the remote vehicle based on a kinodynamic fixed depth motion planning algorithm to use incremental feedback from evaluators to select a best feasible action, the best feasible action comprising actions within a fixed time horizon of several seconds from the current time each time a feasible action is selected, wherein the kinodynamic fixed depth motion planning algorithm comprises the kinodynamic tree, the kinodynamic tree having nodes that encode kinematic and dynamic state variables of the resources of the remote vehicle; determining, on the controller, resource commands corresponding to the best feasible action for commanding resources of the remote vehicle; and commanding, using the controller, the resources of the remote vehicle based on the resource commands.