Patent ID: 8418765

Claim:
A constraint device of at least two remote operated underwater vehicles comprising: at least two docking arms arranged at a reciprocal fixed angular position, each of said at least two docking arms comprising at a first end, means for the hooking of a remote operated underwater vehicle, said at least two docking arms being constrained at a second end, to means for the sliding and rotating hooking to a vertical profile, and a controller configured to detect a position of an overall structure including the constraint device and the remote operated underwater vehicles, and an orientation of each of the remote operated underwater vehicles, receive a desired position of the overall structure to be reached and a desired orientation to be reached for each of the remote operated underwater vehicles, determine power required by each of the remote operated underwater vehicles to reach the desired position of the overall structure and the desired orientation for each of the remote operated underwater vehicles, and transmit commands based on the required power to each of the remote operated underwater vehicles, wherein the required power is determined by determining a mass center of the overall structure, determining a force with respect to the mass center and a resulting moment with respect to the mass center necessary for reaching the desired position of the overall structure to be reached and the desired orientation to be reached for each of the remote operated underwater vehicles, and determining components of forces applied to each of the remote operated underwater vehicles based on the necessary force with respect to the mass center and resulting moment with respect to the mass center.