In this paper, we propose a multi-agents system for the simulation of prototypes for different agriculture robots that can be employed in the harvesting of a vineyard. We show that this prototyping method works well and is appropriate for a system involving several robots. We present the behaviors of each robot, their interactions and some scenarios for the testing of the system. Of specific interest is the cooperative behavior of the robots in such a task. Preliminary results indicate that some optimal choices toward the development of the harvesting system can be correctly identified based on these simulations. The choices can then be used when designing and building the system prototype.