Discussion
Why is plan quality often traded for planning speed?
Answer: D
In most applications a plan five per cent longer, available in a second rather than an hour, is plainly the better outcome, and weighted search provides a bound on the loss. Optimal plans are computable for small problems, quality is measurable by plan cost, and execution cost varies. Choosing the quality actually required, rather than the best obtainable, is a decision that should be made deliberately rather than by default.
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