Cooperative, multi-agent approaches for a wide range of applications is becoming increasingly common and necessary. In many military and industry applications it is no longer desirable to rely on a small number of very capable, but expensive systems; today a larger emphasis is being placed on the use of a large number of inexpensive and individually inferior systems. The assumption, and the topic of a wide array or recent research, is that through appropriate cooperation, the cumulative capabilities of the networked system equals or surpasses those of the “gold-plated” system, yet will be more robust (as an overall system) and less expensive. This paper focuses on a small but important subset of the cooperative systems architecture, namely the relative pose estimation problem. An accurate understanding of relative pose can be a key enabler for a wide range of cooperative applications, this paper discusses some possible approaches and associated uses for an accurate understanding of relative pose while emphasizing scalability, tractable communications, and robustness to large initial uncertainties.