It is possible. You must start RServe from the R shell using run.servewhich is preceded by loaded libraries:
library(Rserve)
library("yaml")
library("reshape")
library("rjson")
library("zoo")
(...)
library("stringr")
run.Rserve(debug = TRUE, port = 6311, remote=TRUE, auth=FALSE, args="--no-save", config.file = "/etc/Rserve.conf")
Each new connection will be able to see these libraries
library(RSclient)
con = RS.connect(host='10.1.2.3')
RS.eval(con, quote(search()))
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