AI planning systems tend to be disembodied and are not situated within the environment for which plans are generated, thus losing information concerning the interaction between the system and its environment. This paper argues that such information may potentially be valuable in constraining plan formulation, and presents both an agent- and domain-independent architecture that extends the classical AI planning framework to take into account context, or the interaction between an autonomous situated planning agent and its environment. The paper describes how context constrains the goals an agent might generate, enables those goals to be prioritised, and constrains plan selection.