An apparatus, including: an interface operable to receive sensor data and generate a map representation of an environment of a robot; processing circuitry operable to: plan a sequence of states to direct the robot to a task goal of the robot based on the map representation and a kinematic state of the robot for a plurality of degrees of freedom; determine a time-dependent trajectory of the robot to the task goal based on the sequence of states by dynamically enabling or disabling one or more of the plurality of degrees of freedom; and generate a movement instruction to control movement of the robot based on the time-dependent trajectory.