The aim of this paper is to point out the capabilities of potential fields for the dynamic control of flexible manufacturing systems. Products sense the fields emitted by resources according to the service they request. Resources adapt their emitted field according to their states and their workloads. Routing and allocation are then simultaneously solved dynamically. Simulations are made using Netlogo software. To illustrate the features of our model, we compare the results of our application to a concurrent dynamic allocation approach based upon the contract net protocol.