Structured Scenarios might give you what you are after.
With a structured scenario (which can be defined against any element, typically a Use Case) you provide each of the steps in a sequence and classify them as either Basic, Alternate or Exception. You can specify what each step uses, provide context references, what the result of each step is, any state information as well as constraints.
Each step can have a decision where the system will continue down the basic path or branch out into an alternate or exception path. Each of these paths can then rejoin the basic path at some point to continue down the basic path.
One of the features the structure scenarios has is to generate not only a diagram (Activity, Ruleflow, State, Sequence [which is where your sequence diagrams might come from in future] or Robustness) but also Test Cases and Test Suites.
This testing information gives you the outputs similar to what you described. For example the Basic path for an example model we have outputs:
Start:
1. System displays Welcome Screen
2. User inserts Card
3. System prompts for PIN
Uses: PIN specification
4. User enters correct PIN
5. System authenticates user and logs access time and location
6. System prompts: Withdraw Cash, Show Balance, Make Deposit
7. User selects: Show Balance
8. System displays current Account balance
9. System displays Welcome Screen after 3 seconds
Result:
Basic Path complete.
Use case ends.
It also generates test steps out for the other decisions - for example if they get the PIN incorrect:
Start:
1. System displays Welcome Screen
2. User inserts Card
3. System prompts for PIN
Uses: PIN specification
Alternate:
When [Incorrect PIN]
4a_1. User enters incorrect PIN
4a_2. System displays Authentication Error
4a_3. System displays Welcome Screen after 3 seconds
Result:
Incorrect PIN complete.
Rejoin at 1.
In this case, for this example, it generated 6 different test scenarios.
So although it is not Scenario Mapping from Sequence diagrams, it is Scenario Mapping from Structured Scenarios where you could use them to start your sequence diagrams too.
Hope this helps
TomO