Discussion
What is action monitoring as opposed to plan monitoring?
Answer: A
Action monitoring verifies the immediate preconditions and catches a failure at once, while plan monitoring checks whether the remainder of the plan can still succeed and catches it earlier. The second is more expensive and more useful. Timing and ordering are different checks. Detecting a problem as early as possible, rather than when it finally blocks progress, is worth the extra checking in any domain where recovery is costly. A limit that survives making every external component ideal is an intrinsic one, and worth knowing for that reason.
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