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This paper describes an animation approach with autonomous actors reacting to their environment and taking decisions based on perception systems, memory and reasoning. With such a system, we should be able to create simulations of situations such as virtual humans moving in a complex environment they may know and recognize, or playing ball games based on their visual and touching perception. In particular, the paper describes an animation approach where synthetic vision is used for navigationdoi:10.1007/978-4-431-67941-7_9 fatcat:2okokefxyzht7n2v47c5eerv5y