US Patent 11188096 Control apparatus, control method, and storage medium

Provided is a control apparatus includes, a state information obtainment unit configured for, with respect to each of at least some nodes including an assigned node among a plurality of nodes being mobile nodes, obtaining state information that represents a state related to a predetermined value corresponding to a position of each of the some nodes; a control information generation unit configured for generating control information for controlling movement of the assigned node based on the state information of each of the some nodes; and a control unit configured for controlling movement of the assigned node based on the control information.