  Structural controllability challenges arise from imprecise system modeling
and system interconnections in large scale systems. In this paper, we study
structural control of bilinear systems on the special Euclidean group. We
employ graph theoretic methods to analyze the structural controllability
problem for driftless bilinear systems and structural accessibility for
bilinear systems with drift. This facilitates the identification of a sparsest
pattern necessary for achieving structural controllability and discerning
redundant connections. To obtain a graph theoretic characterization of
structural controllability and accessibility on the special Euclidean group, we
introduce a novel idea of solid and broken edges on graphs; subsequently, we
use the notion of transitive closure of graphs.
