The MARBEL Programming guide:
The GOAL-Eclipse quick start guide is a quick walkthrough getting a sample GOAL project running in Eclipse; you can also use this for MARBEL.
The GOAL Programming Guide introduces the GOAL agent programming language itself; it explains how to develop GOAL agent programs.
The GOAL-Eclipse User Manual explains how to install and use the GOAL plug-in for the Eclipse IDE; you can also use this for MARBEL.
There is a list of supported SWI Prolog operators in GOAL and MARBEL available as well.
Source-Level Debugging of Cognitive Agents
Automatic Failure Detection for Cognitive Agents