A method for controlling a vehicle (100) includes generating, by a primary computing system (110), a nominal trajectory from a location in order to achieve a mission goal and a fall back trajectory from the location in order to safely stop the vehicle. The nominal and the fall back are identical between the location and a divergent point and where the nominal and the fall back diverge after the divergent point. The fall back is sent to and received by a secondary computing system (210). The secondary computing system waits for an updated trajectory from the primary computing system while controlling the vehicle according to the fall back. When the vehicle reaches a threshold point on the fall back and an updated trajectory has not yet been received by the secondary computing system, the secondary computing system continues to control the vehicle according to the fall back in order to safely stop the vehicle.