Distributed coordination system and task execution method

A task execution method for executing a predetermined task by a plurality of mobile bodies, comprising:

• a sensor input processing step of acquiring, based on sensor data of sensors installed with the mobile body, relative position information relative to another mobile body, past path information and shape information of surroundings;
• and
• an action plan processing step including;
• other mobile body avoidance processing for generating, based on the relative position information, a first action candidate for avoiding another mobile body, the first action candidate having a first action set of a plurality of actions and a first probability set of a plurality of probabilities respectively corresponding to each of the plurality of actions in the first action set,
• past path avoidance processing for generating, based on the path information, a second action candidate for avoiding the past path, the second action candidate having a second action set of the plurality of actions and a second probability set of a plurality of probabilities respectively corresponding to each of the plurality of actions in the second action set,
• obstruction avoidance processing for generating, based on the shape information, a third action candidate for avoiding a surrounding obstruction, the third action candidate having a third action set of the plurality of actions and a third probability set of a plurality of probabilities respectively corresponding to each of the plurality of actions in the third action set, and
• integration processing for determining a velocity or an angular velocity of the mobile body based on the first action candidate, the second action candidate and the third action candidate.