The Executive System and Plan Editor developed by IA Tech, Inc. under a JPL managed SBIR contract has been incorporated into NASA’s PLEXIL language. PLEXIL is a language designed for flexible and safe command execution. IA Tech’s contribution provides an end-to-end system for visualizing, editing, analyzing, and executing robotic task plans based on the PLEXIL language. Expectations are that it will be used with the experimental rover K-9 at ARC. Future potential applications of PLEXIL include science rover missions, crew surface systems, and multi-robot and human robotic teams.