A mobile robot comprising: a control unit that performs movement control for moving toward a target direction while remaining in a movable region representing a communicable region without a collision between the mobile robot and another robot; and a movable region calculation unit that calculates, from a state of the mobile robot and a state of the other robot, a first region where the mobile robot and the other robot do not collide, a second region where the mobile robot and the other robot are capable of communicating, and a movable region in which the first region and the second region overlap, wherein the control unit calculates a control input for moving toward the target, characterized in that the mobile robot further comprises: a communication determination unit that determines, based on the state of the mobile robot and the state of the other robot, whether or not communication is necessary with at least one of the other robot; and a communication unit that, when it is determined by the communication determination unit that communication is necessary, performs communication with the at least one of the other robot, and the communication determination unit compares a first control input in a case of a constraint of remaining in the movable region being removed and a second control input in a case of remaining in the movable region, and determines, based on a comparison result, whether or not communication is necessary with at least one of the other robot. a control unit that performs movement control for moving toward a target direction while remaining in a movable region representing a communicable region without a collision between the mobile robot and another robot; and a movable region calculation unit that calculates, from a state of the mobile robot and a state of the other robot, a first region where the mobile robot and the other robot do not collide, a second region where the mobile robot and the other robot are capable of communicating, and a movable region in which the first region and the second region overlap, wherein the control unit calculates a control input for moving toward the target, characterized in that the mobile robot further comprises: a communication determination unit that determines, based on the state of the mobile robot and the state of the other robot, whether or not communication is necessary with at least one of the other robot; and a communication unit that, when it is determined by the communication determination unit that communication is necessary, performs communication with the at least one of the other robot, and the communication determination unit compares a first control input in a case of a constraint of remaining in the movable region being removed and a second control input in a case of remaining in the movable region, and determines, based on a comparison result, whether or not communication is necessary with at least one of the other robot. a communication determination unit that determines, based on the state of the mobile robot and the state of the other robot, whether or not communication is necessary with at least one of the other robot; and a communication unit that, when it is determined by the communication determination unit that communication is necessary, performs communication with the at least one of the other robot, and the communication determination unit compares a first control input in a case of a constraint of remaining in the movable region being removed and a second control input in a case of remaining in the movable region, and determines, based on a comparison result, whether or not communication is necessary with at least one of the other robot.