A subplan is a subset of actions of a plan. A subplan S is composable with a plan A to yield another plan B. All plan-related data structures should be in the context of some plan - this is different from our notion of always having a single plan.
What are the opportunities enabled by including subplans? As we noted in the last paragraph, it helps us work efficiently with multiple plans at a time.
Case Based Reasoning
Further, a case in case-based-planning is a subplan. Along with notions like "Conditions in the Plan as a Tree Structure", the subplan may be used to compose into a plan to yield another (hopefully lower-cost) plan (this is discussed under "Plan Merging" in the topic "Conditions in the Plan as a Tree Structure").
Parallel Search
Having subplans enables us to search multiple options in parallel, and then select the best option.
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