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It is necessary to coordinate multiple tasks in order to cope with larger-scaled and more complicated tasks. However, it seems very hard to accomplish the multiple tasks at the same time. The paper proposes a method to resolve a conflict between task modules through the processes of their executions. Based on the proposed method, the robot can select an appropriate module according to the priority. In addition, we apply the module conflict resolution to a multiagent environment. Consequently, multiple tasks are automatically allocated to the multiple robots. As a task example, a soccer game is selected to show the validity of the proposed method. Real experiments are shown, and a discussion is given.