{
  "abstract": "A control device includes a controller that controls traveling of a first mobile body in a travel mode according to formation information, the travel mode including a convoy mode and a rotation mode. The convoy mode is a travel mode in which mobile bodies travel in a formation. The rotation mode is a travel mode that permits a leader to perform any type of traveling and permits a follower to perform only a rotation. When the formation information indicates that a first mobile body is the leader, the controller performs formation reorganization by causing all followers included in a formation to form, after the first mobile body moves from a lead position in the formation to an other position, a new formation in which the first mobile body that has moved to the other position is a new lead mobile body.",
  "canonical_url": "https://opentechnical.org/p/OT-2026-000000405",
  "categories": [
    "sensors-controls-machine-vision/industrial-control"
  ],
  "extent": {
    "figures": 0,
    "paragraphs": 0,
    "words": 141
  },
  "figures": [],
  "files": [
    {
      "bytes": 9890,
      "media_type": "text/html; charset=utf-8",
      "name": "index.html",
      "sha256": "37122d528a24696c8882718c7a794ca6b19f54e27ed5944ab0b058e02de338ec"
    },
    {
      "bytes": 1270,
      "media_type": "text/markdown; charset=utf-8",
      "name": "publication.md",
      "sha256": "c862c9b74e40ad0aed2dfaf6632f6cb1fb0763b0473f437bb3c2f763d42ac3bf"
    },
    {
      "bytes": 1381,
      "media_type": "text/plain; charset=utf-8",
      "name": "publication.txt",
      "sha256": "c02deff8ce8b2760303f72ea3ca216cda9b734a5398562f652d3f3d33b0b0076"
    }
  ],
  "integrity": {
    "hash_algorithm": "sha256",
    "keys_url": "https://opentechnical.org/integrity/keys",
    "record_url": "https://opentechnical.org/p/OT-2026-000000405/integrity",
    "signature_algorithm": "Ed25519",
    "signature_file": "manifest.sig",
    "verify_url": "https://opentechnical.org/integrity/verify"
  },
  "keywords": [
    "g05d1/6985",
    "g05d1/695",
    "g05d2105/24",
    "g05d2109/10"
  ],
  "language": "en",
  "license": {
    "name": "Creative Commons Attribution 4.0 International",
    "url": "https://creativecommons.org/licenses/by/4.0/"
  },
  "publication_id": "OT-2026-000000405",
  "published_at": "2026-09-15T19:02:50.735690Z",
  "publisher": "Nebula Innovations Limited",
  "record_type": "record",
  "schema": "opentechnical-publication-manifest/1.0",
  "source_date": "2026-04-16",
  "source_id": "US-2026104719-A1",
  "source_name": "the United States Patent and Trademark Office",
  "source_url": "https://patents.google.com/patent/US2026104719A1",
  "supersedes": null,
  "title": "Control device, mobile body, control method, and recording medium",
  "uuid": "01a0a673-526f-71cb-8e4c-959f683ae010"
}