How can one make up for missed Dhuhr, Asr, and Maghrib prayers while traveling?

Whoever forgets a prayer, let him pray it when he remembers it. So, if someone missed prayers while traveling and remembers them while still traveling, he should pray Dhuhr and Asr as shortened prayers. But if he remembers them while at home (not traveling), then he must pray them in full as a precautionary measure.