Radio communication device, method for controlling radio communication, and radio communication system

A radio communication device includes: a receiver configured to receiver a radio signal; and a controller configured to switch between a first communication mode and a second communication mode in accordance with scheduling of allocation of a time slot to another radio communication device based on the radio signal, communication between the radio communication device and the another radio communication device being executed using time division multiplexing in the first communication mode, and communication between the radio communication device and the another radio communication device being executed using a competitive access method in the second communication mode.