By now, intelligent agents have been on the research agenda of the computer science community for roughly one decade. Still, control architectures for autonomous intelligent systems have been an important research issue for an even much longer time, going as far back as James Watt’s steam engine control mechanism based on mechanical feedback. More recent work includes the development of mathematical models for control in the field of cybernetics (most notably, Wiener). Also, arguably one of the biggest contributions of more than forty years of research in Artificial Intelligence were methods and architectures aiming to describe, control, and adopt intelligent autonomous systems.