The larger the engagement and the more 'options' the AI/player has the harder it is to program. In Killzone 2 you have fewer AI players in smaller areas with fewer optimal paths. In Halo 3 you can come at them in any number of ways. In any one battle you could be on foot flanking or driving up the middle or in a Warthog or Wraith or Banshee from any number of directions.
In Halo: Reach almost all if not 100% of the engagements will be dynamic. This means the AI has to do what it has to do without guidance from the developer. If you consider the range of scenarios the AI has to face it has to be smart. There could be up to 4 players playing on the same system and the AI still has to reach appropriately to each of them.