foundations of computational agents
The model of agent systems is based on the constraint nets of Zhang and Mackworth  and Rosenschein and Kaelbling . The hierarchical control is based on Albus  and the subsumption architecture of Brooks . Turtle Geometry, by Abelson and DiSessa , investigates mathematics from the viewpoint of modeling simple reactive agents. Luenberger  is a readable introduction to the classical theory of agents interacting with environments. Simon  argues for the importance of hierarchical control. Kahneman  provides compelling evidence for distinguishing two modes of human thought: fast, instinctive and emotional, versus slow, deliberate and rational, which he calls Systems 1 and 2 to avoid oversimplification.
For more detail on agent control see Dean and Wellman , Latombe , and Agre . The methodology for building intelligent agents is discussed by Haugeland , Brooks , Kirsh [1991b], and Mackworth .