Passivity-based pose synchronization using only relative pose information under general digraphs

This paper investigates pose synchronization on the Special Euclidean group SE(3). We first introduce a passivity-based distributed velocity input law to achieve pose synchronization presented in our previous works, where the velocity input partially makes use of absolute pose information to cancel the coupling term between position and orientation. In this paper, we present a new velocity input based only on relative pose information and conduct convergence analysis based on stability of perturbed systems. Moreover, we show a necessary and sufficient condition in terms of interconnection topologies for pose synchronization on SE(3). We finally demonstrate the effectiveness of the present velocity input through simulations.