A communication device includes: an ultrasonic oscillating unit which detects or generates an ultrasonic wave; a communication unit which transmits and receives information using the ultrasonic wave; a storage unit which stores a table to which a communication command to designate communication with the another communication device is allocated in time series, the table being shared by the another communication device; and a control unit which shifts the communication unit to one of a transmitting state, a receiving state, and a standby state that is neither the transmitting nor the receiving state, synchronously with the another communication device on the basis of the communication command in the table.