Discussion
What is contingent planning?
Answer: C
A contingent plan includes sensing actions and branches on their results, so the executive follows a tree rather than a sequence. It is more powerful than a conformant plan and much more expensive to compute. Backup plans and multi agent cooperation are different arrangements. Whether sensing is available during execution determines which of the three planning settings applies, and it should be settled before any planner is chosen. The shared properties explain why these belong to one family, and the differences explain why more than one exists.
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