Discussion
Why do the layers of a hybrid architecture operate on different timescales?
Answer: D
An obstacle avoidance reflex must act within milliseconds, while route planning may take seconds and can be interrupted, so separating them lets each run at its natural rate without the slower blocking the faster. Memory, hardware and regulation are implementation details rather than the reason. Matching the response time of a component to the deadline of the problem it solves is what makes real time systems tractable at all.
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