Abstract: Aspects relate to a recovery control system for controlling one or more elements of a vehicle. The recovery control system comprises one or more processors collectively configured to receive a recovery request signal indicative of a request to recover the vehicle from a stuck state, receive one or more inputs indicative of one or more environment factors at the location of the vehicle; in dependence on the recovery request signal and the one or more inputs, determine one or more operation parameters to control the one or more elements to operate in a recovery mode to cause recovery of the vehicle from the stuck state; and output the one or more operation parameters to the one or more elements to cause the one or more elements to automatically operate in the recovery mode. In the stuck state, the vehicle has an actual body-over-ground speed lower than an expected body-over ground-speed.