The RALPH-MEA agent was tested in a dynamic and unpredictable underwater environment. The time constraints require bounded rationality, achieved in RALPH-MEA through meta-reasoning. The Meta-level Arbiter only allows further deliberation by the execution architectures when it is cost-effective to do so. In addition, the replanning architecture considers the time cost when deciding modifying the current plan.
Go to a discussion of this environment for multiple architectures.