A method of recapture of a remotely tracked command guided vehicle within a tracker's field-of-view, FOV, the vehicle including a plurality of actuators configured to perform maneuvers in first and second orthogonal directions, wherein the vehicle is an air, space, aerially tracked land, or aerially tracked sea based vehicle, the method comprising: upon loss of a valid track of the vehicle, a) holding a last actuator command based on a last measured vehicle position before track was broken as a nominal actuator command that maneuvers the vehicle on a straight-line path from a last known position of the vehicle towards the tracker's FOV; b) generating a delta actuator command including an orthogonal component orthogonal to the straight-line path as a next sample of a time-based alternating signal; c) summing the nominal actuator command and the delta actuator command to generate a total actuator command; d) transmitting the total actuator command from the remote tracker to the vehicle to control the plurality of actuators to command guide the vehicle to maneuver in the first and second orthogonal directions to move the vehicle along an alternating path back and forth across the straight-line path to increase an area of vehicle motion relative to the tracker's FOV; and repeating the steps a) through d) until the vehicle re-enters the tracker's FOV and valid track is re-established or an abort command is issued. upon loss of a valid track of the vehicle, a) holding a last actuator command based on a last measured vehicle position before track was broken as a nominal actuator command that maneuvers the vehicle on a straight-line path from a last known position of the vehicle towards the tracker's FOV; b) generating a delta actuator command including an orthogonal component orthogonal to the straight-line path as a next sample of a time-based alternating signal; c) summing the nominal actuator command and the delta actuator command to generate a total actuator command; d) transmitting the total actuator command from the remote tracker to the vehicle to control the plurality of actuators to command guide the vehicle to maneuver in the first and second orthogonal directions to move the vehicle along an alternating path back and forth across the straight-line path to increase an area of vehicle motion relative to the tracker's FOV; and a) holding a last actuator command based on a last measured vehicle position before track was broken as a nominal actuator command that maneuvers the vehicle on a straight-line path from a last known position of the vehicle towards the tracker's FOV; b) generating a delta actuator command including an orthogonal component orthogonal to the straight-line path as a next sample of a time-based alternating signal; c) summing the nominal actuator command and the delta actuator command to generate a total actuator command; d) transmitting the total actuator command from the remote tracker to the vehicle to control the plurality of actuators to command guide the vehicle to maneuver in the first and second orthogonal directions to move the vehicle along an alternating path back and forth across the straight-line path to increase an area of vehicle motion relative to the tracker's FOV; and repeating the steps a) through d) until the vehicle re-enters the tracker's FOV and valid track is re-established or an abort command is issued.