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If they're on foot it's infantry; on horses, cavalry; on chariots, chariotry; on camels, camelry; etc. The pattern is easily extended to fictional creatures (e.g. wargry in B. Devereaux, A Collection of Unmitigated Pedantry, "Collections: The Battle of Helm's Deep, Part II: Total Warg", 8 May 2020).

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I would hazard a guess that a formation of centaurs would be centaur infantry, following the same logic that leads to tanks being called "mechanised infantry". But what do you call a formation of Shining Force pegasus knights? They're basically the same as centaurs, but they can fly.

(I specify Shining Force because Fire Emblem also has pegasus knights which are just armoured people on winged horses and that's not as interesting as pegasus centaurs.)