Systems and methods for adapting tractive elements to a disabling event

A vehicle, comprising:

• a frame;
• a first tractive assembly coupled to the frame, the first tractive assembly comprising
• a first tractive element configured to support a portion of the weight of the vehicle on a support surface, and
• a first actuator operatively connected to the first tractive element and configured to control a distance of the first tractive element to the frame;
• a second tractive assembly coupled to the frame, the second tractive assembly comprising
• a second tractive element configured to contact the support surface, and
• a second actuator operatively connected to the second tractive element and configured to control a distance of the first tractive element to the frame;
• a primary driver configured to provide energy to drive the first tractive element and second tractive element to propel the vehicle;
• and
• a controller operatively connected to the first actuator and the second actuator, the controller executing instructions stored on memory to:
• determine that the second tractive element is not functioning properly;
• and
• responsive to the determination that the second tractive element is not functioning properly, generate one or more control signals for at least one of the first actuator and the second actuator to raise the second tractive element with respect to the first tractive element and thereby effectively raise the second tractive element from the support surface.