In recent years, mobile agents have got much attention in the Multi-Agent Systems community. A lot of languages and execution platforms have been proposed in the literature. In this paper we are interested in the framework Himalaya composed of language CLAIM and its platform Sympa. We have proposed a modified and extended architecture of a CLAIM agent to include planning capability. We have proposed a method to automate the translation of domain information of a running CLAIM agent to the information which is understandable by the planner. We have extended the Hierarchical Task Network planner JSHOP2 with the ability to interleave planning with execution to make it more suitable for dynamic environment.