The development of autonomous planning and control system software often results in a custom design concept and software specific to a particular control application. This paper describes a software framework for orchestrating the planning and execution of autonomous activities of an unmanned vehicle, or a group of cooperating vehicles, that can apply to a wide range of autonomy applications. The framework supports an arbitrary span of autonomous capability, ranging from simple low level tasking, requiring much human intervention, to higher level mission-oriented tasking, requiring much less. The approach integrates the four basic functions of all intelligent devises or agents (plan development, plan monitoring, plan diagnosing, and plan execution), with the mathematical discipline of hierarchical planning and control. The result is a domain-independent software framework, to which domain-dependent modules for planning, monitoring, and diagnosing are easily added. This framework for autonomy, combined with the requisite logic for vehicle control, can then be deployed to realize the desired level of autonomous vehicle operation.