A method of coordinating at least one movement of at least two autonomous devices (100, 101) with respect to each other in a scheduled time interval during a current time interval, wherein at least a first device (100, 101) is configured to perform a movement and is configured to change said movement based on a coordination result for the scheduled time interval; wherein the devices are interconnected via at least one network connection for a data exchange; wherein the devices each comprise at least one distributed consensus network, DCN, node (500, 600) and the DCN nodes (500, 600) are configured to participate in a DCN process; and wherein the method comprises the following steps in the current time interval: i) exchanging information to schedule the movements in the scheduled time interval among the DCN nodes (500, 600) of the at least two devices, ii) performing a program flow to evaluate the received information over the scheduled time interval in each DCN node, iii) coordinating the movements of the devices with respect to the respective other device(s) in the scheduled time interval using a consensus algorithm in which, in at least one consensus coordination round, proposals for the movements of the device(s) in the scheduled time interval are exchanged between the DCN nodes with the other DCN nodes, iv) recording the determined consensus on the movements of the devices in the scheduled time interval as a binding action instruction for the respective DCN node for the scheduled time interval as a next block in a distributed ledger, DL, and v) changing the movements of the device(s) based on the recorded block for the scheduled time interval when, based on the execution result of a program flow that takes into account the data available after the exchange with the other devices and the recorded block, a collision with the other devices is excluded, wherein the scheduled time interval is dynamically adjusted based on the exchanged information for scheduling the movements in the scheduled time interval, and wherein the duration and the time point at which the scheduled time interval begins are part of the determined consensus. wherein at least a first device (100, 101) is configured to perform a movement and is configured to change said movement based on a coordination result for the scheduled time interval; wherein the devices are interconnected via at least one network connection for a data exchange; wherein the devices each comprise at least one distributed consensus network, DCN, node (500, 600) and the DCN nodes (500, 600) are configured to participate in a DCN process; and wherein the method comprises the following steps in the current time interval: i) exchanging information to schedule the movements in the scheduled time interval among the DCN nodes (500, 600) of the at least two devices, ii) performing a program flow to evaluate the received information over the scheduled time interval in each DCN node, iii) coordinating the movements of the devices with respect to the respective other device(s) in the scheduled time interval using a consensus algorithm in which, in at least one consensus coordination round, proposals for the movements of the device(s) in the scheduled time interval are exchanged between the DCN nodes with the other DCN nodes, iv) recording the determined consensus on the movements of the devices in the scheduled time interval as a binding action instruction for the respective DCN node for the scheduled time interval as a next block in a distributed ledger, DL, and v) changing the movements of the device(s) based on the recorded block for the scheduled time interval when, based on the execution result of a program flow that takes into account the data available after the exchange with the other devices and the recorded block, a collision with the other devices is excluded, i) exchanging information to schedule the movements in the scheduled time interval among the DCN nodes (500, 600) of the at least two devices, ii) performing a program flow to evaluate the received information over the scheduled time interval in each DCN node, iii) coordinating the movements of the devices with respect to the respective other device(s) in the scheduled time interval using a consensus algorithm in which, in at least one consensus coordination round, proposals for the movements of the device(s) in the scheduled time interval are exchanged between the DCN nodes with the other DCN nodes, iv) recording the determined consensus on the movements of the devices in the scheduled time interval as a binding action instruction for the respective DCN node for the scheduled time interval as a next block in a distributed ledger, DL, and v) changing the movements of the device(s) based on the recorded block for the scheduled time interval when, based on the execution result of a program flow that takes into account the data available after the exchange with the other devices and the recorded block, a collision with the other devices is excluded, wherein the scheduled time interval is dynamically adjusted based on the exchanged information for scheduling the movements in the scheduled time interval, and wherein the duration and the time point at which the scheduled time interval begins are part of the determined consensus.