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This paper investigates the problem of velocity-free attitude coordination control for a group of spacecraft with attitude represented by modified Rodrigues parameters. The communication flow among neighbor spacecraft is described by an undirected connected graph. Two velocity-free attitude coordination control schemes are proposed. By employing linear reduced-order observers, robust control and Chebyshev neural networks, the first velocity-free control scheme allows a group of spacecraft to simultaneously align their attitude and track a time-varying reference attitude even in the presence of unknown mass moment of inertia matrix and external disturbances, where all spacecraft have access to the common reference attitude. The second control law guarantees a group of spacecraft to track a time-varying reference attitude without requiring velocity measurements even when the common reference attitude is available only to a subset of the group members. Furthermore, the stability of the overall closed-loop system for both control laws is guaranteed by a Lyapunov-based approach. Finally, numerical simulations are presented to demonstrate the performance of the proposed controllers.