This paper presents a project who's goal is to make an animation simulating the activity of a mobile robot in a given environment. A parallel is drawn between animation and reactive programming, particularly with the concept of autonomous agent. The realised animation consists of a virtual world, the environment of the robot and the robot itself, as an agent acting in this world. The turning point of the project is the simulation of the sensors through which the simulated robot is supposed to see its environment. To implement this task, advanced techniques are used such as ray tracing and radiosity. An experimentation platform is designed based on the robot Nomad 200 and its simulator, with adjunction of interfaces for the virtual sensors and for the representation on the computer screen. >