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Line 71: == Criticisms == There have been major ~~criticism~~criticisms of this architectural form, according to Balakirsky (2003) due to the fact that "the planning is performed on a model of the world rather than on the actual world, and the complexity of the computing large plans... Since the world is not static, and may change during this time delay that occurs between sensing, plan conception, and final execution, the validation of the computed plans have been called into question".<ref name="SBB03"/> == References ==

4D-RCS Reference Model Architecture: Difference between revisions