First time in each local git repo:
$ cd Trilinos/
[(master)]$ git fetch
[(master)]$ git checkout --track origin/develop
[(develop)]$
Otherwise, do:
[(master)]$ git checkout develop
[(develop)]$
Once on local 'develop' tracking branch, then just do the centralized workflow.
See more details here.
WARNING: Don't make the following mistake:
$ git checkout -b develop
That is NOT a tracking branch and raw git pull and git push will not work!