¹⁰Some AI systems solve this problem by planning everything from scratch at regular intervals but that is unlikely to be possible in a real-time environment where the time needed for planning is the main bottleneck. In fact, my treatment here may not do full justice to Bratman’s original definition of intention, where a plan is actually composed of several intentions. Such a definition creates more flexibility for behaviour in the sense that even if the circumstances change (or the circumstances were unpredictable to start with), the behaviour may flexibly move from one path to another by triggering an alternative sequence of intentions. The definition I use here is more similar to the later AI developments of the concept cited above.