This chapter describes options for locating the software that will implement the metareasoning process on a robot. The details of the implementation depend upon the robot’s autonomy software architecture, so this chapter reviews some common architectures. This chapter also discusses three possible locations for metareasoning: (1) a separate piece of software that runs in parallel to the autonomy software, (2) a module that is added to the autonomy software, and (3) code that is embedded in part the autonomy software. This chapter also discusses the details of a specific implementation in the autonomy stack of a mobile ground robot.