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Implement SubplanExecutionService and SubplanMergeService to enable parent plans to decompose work into coordinated child subplans with configurable execution modes (sequential, parallel, dependency-ordered) and merge strategies (git_three_way, sequential_apply, fail_on_conflict, last_wins). - SubplanExecutionService: schedules subplan execution with retry support via SubplanFailureHandler, max_parallel limits, fail_fast semantics, and topological DAG ordering for dependency mode - SubplanMergeService: wraps sandbox merge infrastructure to combine subplan sandbox outputs using the configured merge strategy - BDD tests: 21 scenarios covering all execution modes, merge strategies, validation, and integration flows - Robot tests: 11 integration test cases with helper module - ASV benchmarks: performance benchmarks for execution and merge - Documentation: reference guide in docs/reference/subplans.md ISSUES CLOSED: #184