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.
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