@Rajamani , Yes you can connect a raspberry pi to VOXL2 via a USB C cable (using the USB C port next to the VOXL2 power connector). The RPI will be the "host" in this case, and you can use ADB from RPI to access voxl2 (just like connecting VOXL2 to a laptop or a desktop computer).
Please make sure to use the USB 3.0 port on the raspberry pi and test the cable / usb port before doing any further design plans (just to make sure it works for you).
Alex