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| '''Lean''' || High || Slow || Fragile || Little || Complemented
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When we add more capabilities to individual agents by sophisticating their their reasoning capabilities we need to utilise it in a way as to benefit the system. This efficient utilisation can be achieved by combining reaction and planning .
[[File:Planning and reaction.jpg|thumb|
''Pure reaction''-In this type there is no way to control the reaction. As there is no planning it is fast but inflexible.It is suitable in applications where all possibilities of tasks are known and there are no changes in it.
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[[File:Reaction and planning.jpg|thumb|
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[[File:Planning reaction.jpg|thumb|
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