A radio communication system, a radio communication apparatus, a radio communication method, and a computer program allow networks to be operated without interference between contending networks. When plural piconets collide on the same frequency channel, a control station of one of the piconets temporarily sets a buffer super frame period to maintain a coexistent relationship between the piconets. When an apparatus other than a control station receives a beacon signal of the buffer super frame period, a shorter super frame period based on that super frame period is temporarily set to make fine adjustment of the next beacon signal transmission timing. An apparatus that has not received a beacon signal looks for a beacon signal of its own piconet for a redundant time so as to find a start timing of a new super frame period.