Remote configuration of xbee modules using pic32 controller without connecting to PC

I have recently started to work with pic controllers and xbee modules and my project involves in wirelessly transmitting some data through the wireless xbee modules. In all the datasheets and documentations there is guides for configuring the xbee modules using xctu software only but couldnt find anywhere where it can be done using the PIC microcontrollers. I was wondering if there is a way I can dynamicaly change the configuration of modules between coordinator, routers and the end devices using the pic controller itself without using pc and xctu software. Also is it possible to setup the firmware and all through the pic controller instead of connecting to computer. I do have an SD card connected to the controller so There is a way to copy the code but I am not sure if it is possible to run a script and update the xbee module. Any help would really appreciated.