A device for controlling self-propelled mobile apparatus(es) (300), includes:—a stationary base station (200), provided with a receiver for a satellite location system, referred to as a stationary GNSS receiver, and a radiofrequency transmitter/receiver to enable communication with at least one mobile apparatus, and including: a positioning module, a command module, and a control module for controlling the movement of each mobile apparatus on the ground;—at least one mobile apparatus (200), including a moving element, a mobile GNSS receiver, and a radiofrequency transmitter/receiver for transmitting, to the base station (200), information received by the mobile GNSS receiver and receiving a movement command.