In step S1504, the information processing apparatus 101 obtains, from the communication apparatus 151 of the processing target, information by which it is possible to identify an apparatus existing on the periphery of the communication apparatus 151 (step S1504). For an apparatus existing on the periphery of the self-apparatus, the communication apparatus 151 manages the information of the relative position based on the position of the self-apparatus. The information processing apparatus 101 obtains the information by which it is possible to identify the apparatus, which is managed by the communication apparatus 151 of the processing target. If obtaining of the information by which it is possible to identify the apparatus, which is managed by the communication apparatus 151 of the processing target, has failed (NO in step S1505), the information processing apparatus 101 does not execute the processes of steps S1506 to S1509 for the communication apparatus 151 of the processing target. On the other hand, if obtaining of the information by which it is possible to identify the apparatus, which is managed by the communication apparatus 151 of the processing target, has succeeded (YES in step S1505), the information processing apparatus 101 then determines whether the target designated in step S1501 is included in the obtained information (step S1506). Upon determining that the target designated in step S1501 is not included in the obtained information (NO in step S1506), the information processing apparatus 101 does not execute the processes of steps S1507 to S1509 for the communication apparatus 151 of the processing target. Upon determining that the target designated in step S1501 is included in the obtained information (YES in step S1506), the information processing apparatus 101 obtains relative position information concerning the designated target from the communication apparatus 151 (step S1507). Note that if obtaining of the relative position information concerning the designated target has failed (NO in step S1508), the information processing apparatus 101 does not execute the process of step S1509. On the other hand, if obtaining of the relative position information concerning the designated target has succeeded (YES in step S1508), the information processing apparatus 101 registers the obtained information in the relative position information DB as shown in FIG. 14 (step S1509).