Generally speaking, if you're always coming up with plans while hiding from detection within the bad guy's lair, you might want to consider discussing things just a tad earlier.

On the other hand, if you're frequently hiding from detection within the bad guy's lair, you must be doing something right!

Transcript

{on board the Millennium Falcon}
Clone Trooper 1: I'm having trouble tearing this ship apart.
Clone Trooper 2: Well, we've pulled off all the duct tape. The way I figure it, now it's just a waiting game.
{they leave}
{Luke and Han emerge from a smuggling compartment under the deck}
R2-D2: You know, this ship is surprisingly resilient.
Luke: So I guess we go and get the Lost Orb now? Do we hide in the shadows or go in guns blazing?
Luke: I mean, zapping.
Han: No, I have a brilliant plan.
R2-D2: <chug!>
Obi-Wan: I absolutely veto any plan that involves masquerading as droids.
Han: Ooh, that's even better!