---
publication_id: "OT-2026-000000405"
title: "Control device, mobile body, control method, and recording medium"
published_at: "2026-09-15T19:02:50.735690Z"
canonical_url: "https://opentechnical.org/p/OT-2026-000000405"
categories:
  - "sensors-controls-machine-vision/industrial-control"
keywords:
  - "g05d1/6985"
  - "g05d1/695"
  - "g05d2105/24"
  - "g05d2109/10"
---

# Control device, mobile body, control method, and recording medium

## 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.