Mission planning and execution for autonomous rovers with limited resource capacities while moving around in dynamic environments require to address temporal, resource and uncertainty issues. The use of a temporal planner and a temporal executive which processes are interleaved is desirable. In this paper we propose a framework to integrate deliberative planning, plan repair and execution control in a dynamic environment with real-time constraints. It is based on lifted partial order temporal planning techniques which produce flexible plans and allow, under certain conditions discussed in the paper, plan repair interleaved with plan execution. This framework has been implemented using the planning system IXTET, integrated in the LAAS architecture in interaction with a procedural executive, tested in simulation and deployed on an ATRV robotic platform.