Since the development of the first autonomous underwater vehicles, the demanded tasks for subsea operations have become more and more challenging as, for instance, intervention, maintenance and repair of seabed installations, in addition to surveys. As a result of these considerations, the development of Autonomous Underwater Re-configurable Vehicles (AURVs) with the capability of interacting with the surrounding environment and autonomously changing the configuration, according to the task at hand, can represent a real breakthrough in underwater system technologies. A novel formulation for the dynamic maneuverability analysis of an AURV, adapting Yoshikawa’s manipulability theory for robotic arms, is proposed., https://youtu.be/huq45_AmoAM