A braking system for a vehicle, the braking system comprising: a first wheel assembly including: a first braking wheel; and a second braking wheel; a second wheel assembly including: a first braking wheel; and a second braking wheel; a braking circuit operatively coupled for independent brake actuation with the first braking wheel of the first wheel assembly, the second braking wheel of the first wheel assembly, the first braking wheel of the second wheel assembly, and the second braking wheel of the second wheel assembly; characterized by: a brake control circuit coupled with the braking circuit during a first braking phase and a second braking phase to: actuate braking of the first braking wheel of the first wheel assembly (106_ and of the first braking wheel of the second wheel assembly in response to initial receipt of a braking command in the first braking phase; and restrict braking at the second braking wheel of the first wheel assembly and at the second braking wheel of the second wheel assembly during the first braking phase until the first braking wheels reach an anti-skid limit at an end of the first braking phase; and a braking capability circuit coupled with the brake control circuit to determine a braking capability of the vehicle based on an amount of braking applied to reach the anti-skid limit at the first braking wheel of the first wheel assembly and at the first braking wheel of the second wheel assembly. a first wheel assembly including: a first braking wheel; and a second braking wheel; a first braking wheel; and a second braking wheel; a second wheel assembly including: a first braking wheel; and a second braking wheel; a first braking wheel; and a second braking wheel; a braking circuit operatively coupled for independent brake actuation with the first braking wheel of the first wheel assembly, the second braking wheel of the first wheel assembly, the first braking wheel of the second wheel assembly, and the second braking wheel of the second wheel assembly; characterized by: a brake control circuit coupled with the braking circuit during a first braking phase and a second braking phase to: actuate braking of the first braking wheel of the first wheel assembly (106_ and of the first braking wheel of the second wheel assembly in response to initial receipt of a braking command in the first braking phase; and restrict braking at the second braking wheel of the first wheel assembly and at the second braking wheel of the second wheel assembly during the first braking phase until the first braking wheels reach an anti-skid limit at an end of the first braking phase; and a braking capability circuit coupled with the brake control circuit to determine a braking capability of the vehicle based on an amount of braking applied to reach the anti-skid limit at the first braking wheel of the first wheel assembly and at the first braking wheel of the second wheel assembly. a brake control circuit coupled with the braking circuit during a first braking phase and a second braking phase to: actuate braking of the first braking wheel of the first wheel assembly (106_ and of the first braking wheel of the second wheel assembly in response to initial receipt of a braking command in the first braking phase; and restrict braking at the second braking wheel of the first wheel assembly and at the second braking wheel of the second wheel assembly during the first braking phase until the first braking wheels reach an anti-skid limit at an end of the first braking phase; and actuate braking of the first braking wheel of the first wheel assembly (106_ and of the first braking wheel of the second wheel assembly in response to initial receipt of a braking command in the first braking phase; and restrict braking at the second braking wheel of the first wheel assembly and at the second braking wheel of the second wheel assembly during the first braking phase until the first braking wheels reach an anti-skid limit at an end of the first braking phase; and a braking capability circuit coupled with the brake control circuit to determine a braking capability of the vehicle based on an amount of braking applied to reach the anti-skid limit at the first braking wheel of the first wheel assembly and at the first braking wheel of the second wheel assembly.