Mobile object, computer-readable medium, and control method

A non-transitory computer-readable storage medium having stored therein a program for causing a computer for controlling a mobile object to function as:

• a mobile object information transmitting unit configured to transmit, to another mobile object by optical wireless communication by a first optical wireless communication unit, first mobile object information including first inertial measurement information indicating measurement results of a three-dimensional angular velocity and an acceleration of the mobile object and first body control information used by a propulsion unit for propelling the mobile object according to the first body control information;
• a mobile object information receiving unit configured to receive, from the another mobile object by optical wireless communication by the first optical wireless communication unit, second mobile object information including second inertial measurement information indicating measurement results of a three-dimensional angular velocity and an acceleration of the another mobile object and second body control information used by a propulsion unit for propelling the another mobile object according to the second body control information;
• and
• an optical axis direction control unit configured to control a direction of an optical axis of the first optical wireless communication unit on a basis of the first mobile object information and the second mobile object information.

A control method executed by a computer equipped in a mobile object, comprising:

• transmitting mobile object information by transmitting, to another mobile object by optical wireless communication by a first optical wireless communication unit, first mobile object information including first inertial measurement information indicating measurement results of a three-dimensional angular velocity and an acceleration of the mobile object and first body control information used by a propulsion unit for propelling the mobile object according to the first body control information;
• receiving mobile object information by receiving, from the another mobile object by optical wireless communication by the first optical wireless communication unit, second mobile object information including second inertial measurement information indicating measurement results of a three-dimensional angular velocity and an acceleration of the another mobile object and second body control information used by a propulsion unit for propelling the another mobile object according to the second body control information;
• and
• controlling a direction of an optical axis of the first optical wireless communication unit on a basis of the first mobile object information and the second mobile object information.