The designers discuss an Autonomous Underwater Vehicle implementation, aimed at surveying and obstacle avoidance. The former usually involves planning tasks, while the latter leads to invocation of the replanning architecture. Whether proper behavior can be maintained when more complex tasks are required remains an open issue.
The agent's behavior depends greatly on the choice of utility functions. Since the execution architectures make local decisions, it is possible that in the long run, goals will remain unsatisfied (this myopia is mentioned by the authors). For instance, in the current state, a certain action is preferable since it advances toward goal A, although it moves away from goal B. In the resulting state, perhaps goal B actions have higher utility, and reverse the previous results. In addition, there is also the problem of local minima. Of course, correct choice of utility function can correct both problems, but sometimes the correct choice is unknown.
Go to a discussion of this property for multiple architectures.