Systems and methods for routing vehicles to capture and evaluate targeted scenarios

Systems, methods, and non-transitory computer-readable media can be configured to determine a targeted scenario and a mission associated with the targeted scenario. A route to a location associated with the mission can be determined based at least in part on a likelihood of encountering the targeted scenario, wherein the likelihood of encountering the targeted scenario is based at least in part on a frequency with which scenarios similar to the targeted scenario were encountered at the location. Whether the targeted scenario was encountered can be determined based on an evaluation of captured sensor data associated with the mission upon passing the location.