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Creating homescreen shortcuts for your scripts is easily done. SL4A/android-scripting is mentioned in another answer.
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This solution will let you directly launch scripts via homescreen shortcut (both versions), but you'll have to stare at a gratuitous terminal output screen for 20 full seconds afterword or until you manually close/dismiss it. As it is now (v1.1.2), it needs a little improvement for ICS+, as its UI exits with a harmless error (a popup that limits its usefulness). You may wish to sync with the source repo and re-code/improve it to better fit your need. GScript Lite (also Gscript (donate version)) is an open-source solution. I script shell and python (see SL4A/android-scripting) using this app. SManager (no ads version) does let you execute your script from a homescreen shortcut cleanly and in the background, though for some scripts I construct GUI pop-up Views. It first launches to its own UI, and from there you may execute your script. But, it won't let you create a homescreen shortcut that will directly execute your script. Notifications can be triggered to keep you informed of your script's running and/or exit status, etc. It will let you set different auto-launch triggers: Boot (of course), Network up/down, etc. SManager (free version) will let you store your custom script anywhere on the device, even your internal storage if you're using a rooted device.
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Answer: The answer to your question should be GScript (open source and "save anywhere" on rooted devices), but who wants to stare at that modal terminal output screen when the script completes? Details follow below.