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Work on autonomy in robotics often focuses on the low-level functional layer (hardware reliability, resilience of sensor data, etc.) or the high-level decision-making layer (navigation algorithm, planning, fault management, etc.). However, there is a little explored in-between, the executive layer, which must provide behaviors that can be used by the decision-making layer based on the elements available in the functional layer. We will then see how a skills architecture can help to better formalize this intermediate layer, its usefulness from a system verification and validation point of view, comfort for the end user, and finally its application to underwater robotics in various scenarios