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The method captures the three flocking rules proposed by Reynolds: cohesion; alignment; and separation. The proposed controller is based only on relative pose (position and attitude) information with respect to neighboring rigid bodies so that it can be implemented in a fully distributed manner using only local sensors. The flocking algorithm is moreover based on pose synchronization methods for the cohesion/alignment rules and achieves safe separation distances through the application of control barrier functions. The control input for each rigid body is chosen by solving a distributed optimization problem with constraints for pose synchronization and collision avoidance. Here, the inherent conflict between cohesion and separation is explicitly handled by relaxing the position synchronization constraint. 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