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 . <EOS>