The StateChartExecutive (SCE) is a state-machine based executive, configured using SCXML, and using the Datamapper API for input and output. Here, we use the term "executives" to mean a component that organizes both sequential and parallel execution of several actions in a system. This is often used by planner-based systems, where the planner generates the plan and the executive manages its execution, but it can also be used directly, by specifying the state chart manually. This is actually how we use it most often, and the flexibility of State-Charts makes this quite convenient.