A task execution system, a radio connection method, and a program capable of switching a base station which is a connection destination at an appropriate timing are provided. In a task execution system including an autonomous mobile robot configured to sequentially execute a plurality of tasks including movement, the autonomous mobile robot includes a radio communication unit that communicates with a base station, and a connection control unit that searches for the base station with execution of a predetermined task as a trigger and switches base station which is a connection destination of communication by the radio communication unit.