it is an oxymoron (two opposite words together). Planned means to prepare for something, and improvisation means to do something without preparation, therefore is an oxymoronic phrase used in irony.
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Rehearsed improvisation is when someone improvises in the same style for a while. This rehearsed improvisation is usually for the purpose of a concert.
prepared improvisation is a drama technique which is used to rehearse a piece of work so that it is ready to show to an audience
Prepared and spontaneous
Improvisation means to make it up as you go without planning it ahead of time
Rhythmic improvisation
Collective Improvisation.
Scat singing