A method includes receiving a query from a user requesting a prediction on future location of a target at a time t>0, receiving a trafficability map wherein the target is located in the trafficability map at an initial time t=0, receiving information about the target including uncertainty on speed of the target, modeling motion of the target using information from the trafficability map including terrain and target mobility on different terrain types to locations on the trafficability map, and answering the query from the user based on output from modeling motion of the target.