Short answer: trade off of accuracy vs latency vs deterministic. Latency is built into good decision making while disagreements can be managed through hierarch

Short answer: trade off of accuracy vs latency vs deterministic. Latency is built into good decision making while disagreements can be managed through hierarchy, weights, and more decisions. Decisions should be made at the original intent and carried downstream to the implementation with expected outcome to be near deterministic if the desired outcome is weighed.