This paper describes GLOC3, a general software control architecture intended for unmanned vehicles. Applying a criterion of maximizing software maintainability and reusability, as well as fulfilling the monitoring and logging needs that arise from any experimental platform, this architecture is based on a single minimalist generic component. Besides, this software infrastructure is intended to make easier both the specification of experiments and missions at the different development stages. The case of the control architecture of an Unmanned Aerial Vehicle, to be employed as part of the robot fleet of the MINOAS project, is considered by way of illustration.