1. A method of commanding a remote vehicle, the method comprising: 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 a current time each time a feasible action is selected; 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.