How can plans that a computer is constantly changing be effectively and without disruption to the workflow be communicated? In a dynamic environment an online planning algorithm could be continuously improving plans.  However, we humans are not that flexible. So, one way is to be able to set a threshold on how much the new plan improves the current one in order to be presented to the humans.  However, this threshold would need to be adaptive to the situations.

Another question is whether we present only the changes to the old plan or the entire new plan? Do we give the humans a choice?

If there are multiple alternative plans do we show them all to the user and let them chose or should the algorithm just pick one for them? Or do we let that as an option to the user?