3. The system of claim 1 , wherein: the plurality of proposed nodes are divided into first and second groups of proposed nodes, the first group of proposed nodes representing proposed states implementable within a first time frame and the second group of proposed nodes representing proposed states implementable within a second time frame, the first time frame shorter than the second time frame; the new planner information comprising a time constraint that specifies the first or second time frame; and the computer hardware configured to remove at least one proposed node in the state tree comprising: upon a determination that the time constraint specifies the first time frame, removing the second group of proposed nodes from the state tree; and upon a determination that the time constraint specifies the second time frame, removing the first group of proposed nodes from the state tree.
4. The system of claim 3 , wherein: the first group of proposed nodes represent proposed states comprising an associated first type of action implementable within the first time frame; and the second group of proposed nodes represent proposed states comprising an associated second type of action implementable within the second time frame.