I'm interested in planning and how one is able to take action and plan ahead at the same time. I could imagine one could make observations and project these into the future using past experiences. The reward system could then sort out favorable outcomes which one could aim for, taking the necessary steps.
However I don't know if this is really how the reward system works (I wasn't able to find resources especially for "future" reward) and I can also see difficulties in terms of interference with control of the current situation - planning would have to be handled as some sort of suppressed action.
So are there already cognitive models that try to explain planning and how planning and action could work in parallel (although interacting)?