Logic-labeled finite-state machines are a formal mechanisms to represent behavior. These models have several advantages over event-driven finite-state machines. They have a formal semantics that enables model-checking; that is, formal verification. More importantly, they can be executed concurrently and produce simple behaviors for embedded systems, or more advanced behaviors for robotic systems (like feedback-loop control). We illustrate their potential to integrate high level capabilities like reasoning and planing and cover the spectrum of reactive architectures to deliberative architectures. Examples of these approach will be presented ranging from ubiquitous cases in requirements engineering to the realm of robots interacting, like RoboCup. Finally, we show we can use these logic-labeled finite-state machines to model dynamic objects in an environment and use traditional planing to guide robots in even potentially non-deterministic environments.