We propose a new cognitive robot control architecture in which the cognitive layer can be programmed by means of the agent programming language Goal. The architecture exploits the support that agent-oriented programming offers for creating cognitive robotic agents, including symbolic knowledge representation, deliberation via modular, high-level action selection, and support for multiple, declarative goals. The benefits of the architecture are that it provides a flexible approach to develop cognitive robots and support for a clean and clear separation of concerns about symbolic reasoning and sub-symbolic processing. We discuss the design of our architecture and discuss the issue of translating sub-symbolic information and behavior control into symbolic representations needed at the cognitive layer. An interactive navigation task is presented as a proof of concept.