Discussion
Why is replanning usually preferred to computing a contingent plan?
Answer: B
Enumerating every possible outcome produces an enormous tree, almost all of which is never executed, so planning again when something actually goes wrong is usually far cheaper. Contingent planning is reserved for cases where recovery would be impossible or the stakes are high. Feasibility, plan length and monitoring are secondary. Deferring work until it is known to be needed is the same lazy evaluation argument that appears throughout computing.
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