Responsibility and Planning

We are planning agents and we are, or so we suppose, responsible agents. How are these two distinctive aspects of our agency related? In his "Freedom and Resentment" Peter Strawson understands responsible agency in terms of "reactive attitudes" like resentment and gratitude, attitudes which are normally embedded in "ordinary inter-personal relationships." I draw on Strawson's account to sketch an answer to my question about responsibility and planning. First, the fact that an action is plan-embedded can influence the agent's degree of culpability for that action; for such embeddings can constitute or indicate important facts about the quality of the agent's will. Second, general planning incapacities can to some extent exempt an agent from normal judgments of responsibility. My argument for this second claim appeals to the normal roles of planning in "ordinary inter-personal relationships."