This will be completely familiar to most of us here, but "What Does a Robot Want?" seems to rederive a few of Eliezer's comments about FAI and UFAI in a very readable way - particularly those from Points of Departure. (Which, for some reason, doesn't seem to be included in any indexed sequence.)

The author mentions using these ideas in his novel, Free Radical - I can attest to this, having enjoyed it partly for that reason.