This paper describes an approach to planning suitable for robots functioning in the assembly domain. A robot planner has to function in the presence of incomplete information and needs to react to unexpected changes in the environment. A planner that can function in a dynamically changing environment, correspondingly modifying its plans and goals is termed a dynamic planner. The ability of the planner to dynamically restructure its plan of action is facilitated by the fact that the robot system is equipped with various sensors. In this paper, we describe our approach to building a dynamic planner, our initial efforts and discuss the planning of a simple assembly task.