A method of controlling a vehicle moving in a direction of travel during a braking operation, the vehicle including a first track disposed on a first side thereof and a second track disposed on a second side thereof, the method comprising: providing a first brake actuator (516; 816), a second brake actuator (518; 818), a brake input device (520; 820), a steer input device (524; 824), and a cross-drive transmission (502; 802) including a first output (508; 808) operable to drive the first track and a second output (510; 810) operable to drive the second track , wherein the first brake actuator (516; 816) is coupled to the first output (508; 808) and the second brake actuator (518; 818) is coupled to the second output (510; 810), and wherein the cross-drive transmission (502; 802) is operable to independently control brake actuation of the first and second brake actuators coupled to the corresponding first and second outputs during a braking operation; detecting a first output speed at the first output (508; 808) and a second output speed at the second output (510; 810); receiving a brake input request and a steer input request, the brake input request received from the brake input device (520; 820) and the steer input request received from the steer input device (524; 824); determining a differential output speed based on the first output speed and the second output speed; comparing the differential output speed to a first threshold, the brake input request to a second threshold, and the steer input request to a third threshold; determining based on the comparing step whether the first output (508; 808) or the second output (510; 810) is locked during the braking operation resulting from a loss of traction of the first track or the second track ; controlling the first brake actuator (516; 816) or the second brake actuator (518; 818) based on which output is determined to be locked to control the vehicle during the braking operation. providing a first brake actuator (516; 816), a second brake actuator (518; 818), a brake input device (520; 820), a steer input device (524; 824), and a cross-drive transmission (502; 802) including a first output (508; 808) operable to drive the first track and a second output (510; 810) operable to drive the second track , wherein the first brake actuator (516; 816) is coupled to the first output (508; 808) and the second brake actuator (518; 818) is coupled to the second output (510; 810), and wherein the cross-drive transmission (502; 802) is operable to independently control brake actuation of the first and second brake actuators coupled to the corresponding first and second outputs during a braking operation; detecting a first output speed at the first output (508; 808) and a second output speed at the second output (510; 810); receiving a brake input request and a steer input request, the brake input request received from the brake input device (520; 820) and the steer input request received from the steer input device (524; 824); determining a differential output speed based on the first output speed and the second output speed; comparing the differential output speed to a first threshold, the brake input request to a second threshold, and the steer input request to a third threshold; determining based on the comparing step whether the first output (508; 808) or the second output (510; 810) is locked during the braking operation resulting from a loss of traction of the first track or the second track ; controlling the first brake actuator (516; 816) or the second brake actuator (518; 818) based on which output is determined to be locked to control the vehicle during the braking operation. <EOS>