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This paper presents a new method, based on a multi-agent system and on adigital mock-up technology, to assess an efficient path planner for a manikinor a robot for access and visibility task taking into account ergonomicconstraints or joint and mechanical limits. In order to solve this problem, thehuman operator is integrated in the process optimization to contribute to aglobal perception of the environment. This operator cooperates, in real-time,with several automatic local elementary agents. The result of this workvalidates solutions through the digital mock-up; it can be applied to simulatemaintenability and mountability tasks.

A distributed Approach for Access and Visibility Task with a Manikin and a Robot in a Virtual Reality Environment