Current motion planners, such as the ones available in ROS MoveIt, can solve difficult motion planning problems. However, these planners are not practical in unstructured, rapidly-changing environments. First, they assume that the environment is well-known, and static during planning and execution. Second, they do not support temporal constraints, which are often important for synchronization between a robot and other actors. Third, because many popular planners generate completely new trajectories for each planning problem, they do not allow for representing persistent control policy information associated with a trajectory across planning problems.