A radio communication apparatus includes a variable directivity antenna and a control unit and performs radio communication with another radio communication apparatus. The control unit calculates a position of the another radio communication apparatus by measuring a distance to the another radio communication apparatus and measuring directivity of the another radio communication apparatus by switching directivity of the wave of radio communication using the variable directivity antenna with a MEMS switch. Moreover, the control unit controls the output of the variable directivity antenna according to the calculated position of the another radio communication apparatus.