Methods of drilling a wellbore within a subsurface region and drilling control systems that perform the methods. The methods include accessing an objective map and calculating a plurality of critical points of the objective map. The methods also include scoring each critical point and selecting a selected critical point of the plurality of critical points. The selected critical point describes an estimated value of at least one drilling performance indicator for a selected value of at least one independent operational parameter. The methods further include operating the drilling rig at the selected value of the at least one independent operational parameter and, during the operating, determining an actual value of the at least one drilling performance indicator. The methods also include updating the objective map to generate an updated objective map and repeating at least a portion of the methods.