This book constitutes the thoroughly refereed post-proceedings of an international seminar on Plan-Based Control of Robotic Agents held at Dagstuhl Castle, Germany in October 2001.The 16 full papers included in the book have gone through two rounds of reviewing and revision and present an up-to-date survey of the state of the art on research in plan-based control of robotic agents. Besides general issues from robotics, agent systems, control, AI planning, algorithmic learning, and problem solving are plan-based high-level control, probabilistic reasoning, plan transformation, and resource adaptive reasoning key topics addressed in the papers.