I guess I'm hung up on the "Fully" part of "Fully Planned". I am aware that cooperation and coordination can happen among communities that don't have central authorities, but to my mind that decentralization of authority has to imply that each group comes up with its own plan for what to do with its own resources at least somewhat independently. In my mind, "fully planned" means that production planning is fully centralized, or at least there is a central mechanism by which all parties must get their part of the plan approved by the whole collective before it becomes part of the plan.

If an individual member has the freedom to alter the plan, is it fully planned? And if it's fully planned, does that mean that every member is completely constrained by the plan, and therefore has no independent authority? That's what I'm struggling with, they seem like contradicting ideas.