In this paper, we set up a unifying perspective of the individual control layers of the architecture InteRRaP for autonomous interacting agents. InteRRaP is a pragmatic approach to designing complex dynamic agent societies, e.g. for robotics [Muller & Pischel 94a] and cooperative scheduling applications [Fischer et al. 94]. It is based on three general functions describing how the actions an agent commits to are derived from its perception and from its mental model: belief revision and abstraction, situation recognition and goal activation, and planning and scheduling. It is argued that each InteRRaP control layer --- the behaviour-based layer, the local planning layer, and the cooperative planning layer --- can be described by a combination of different instantiations of these control functions. The basic structure of a control layer is defined. The individual functions and their implementation in the different layers are outlined. We demonstrate various options for the d..