Tycho injects the bundle dependencies from p2 repositories are into the Maven model with a synthetic groupId p2.eclipse-plugin
. Using this groupId and the bundle symbolic name as artifactId, you should be able to reference the p2 dependencies from any Maven plugin.
BTW, you can see the injected dependencies by adding the tree goal of the maven-dependency-plugin, e.g. with mvn clean verify dependency:tree
.