An autonomous distributed coordination system is provided which is intended to be used for a broad-area search in an unknown environment without the need for a prior plan and map sharing. It includes: a sensor input processing section 302 for acquiring (i) relative position information relative to another mobile body, (ii) path information in past and (iii) surrounding shape information; other mobile body avoidance module 310 for generating, based on the relative position information, a first action candidate for avoiding the another mobile body; a past path avoidance module 311 for generating, based on the path information, a second action candidate for avoiding the path information in the past; an obstruct avoidance module 312 for generating, based on the depth information, a third action candidate for avoiding a surrounding obstruct; and an integration module 313 for determining a velocity or angular velocity of the mobile body based on the first action candidate, the second action candidate and the third action candidate.