System and method for controlling mobile node group, and communication device

A mobile node group control system that controls a mobile node group performing a formation flight, the system comprising:

• mobile nodes constituting the mobile node group, the mobile nodes being classified into a follower mobile node and a leader mobile node that collects information on the follower mobile node and controls the follower mobile node, the mobile nodes wirelessly communicating with one another based on beamforming or MIMO;
• and
• a ground station that wirelessly communicates with each of the mobile nodes,
• wherein:
• based on an on-board processor installed in the leader mobile node, the leader mobile node controls the follower mobile node, and each of the mobile nodes controls a position or an attitude of the mobile node itself for performing the formation flight, and
• the ground station performs:
• link control of the wireless communication with the leader mobile node or link control of the wireless communication between the mobile nodes,
• control of selection of any ground station that wirelessly communicates with the leader mobile node,
• control of determination of a service to be provided to the leader mobile node, and
• control of changing of a platform of a connection from the respective moving bodies to the ground station, a connection from the mobile node group including the respective moving bodies to another mobile node group, or a connection from the mobile node group including the respective moving bodies to another mobile node.