Global Attitude Alignment for Multi-Agent Systems on SO(3) Without Angular Velocity Measurements

In this paper, we address the attitude alignment problem for a group of rigid body systems evolving on $SO(3)$ under an undirected, connected and acyclic communication graph topology. We propose a velocity-free distributed hybrid feedback control law, relying on the relative orientations, with global asymptotic stability guarantees. Numerical simulation results are presented to illustrate the performance of the proposed distributed hybrid feedback control law.