This paper presents the preliminary activities undertaken for the research project SUNMARE (Surface UNmanned multipurpose research MARine vEhicle), which aims at the development of an innovative autonomous platform for marine, oceanographic, lacustrine, and submerged/semi-submerged cultural heritage monitoring/measurements. SUNMARE is a modular ship comprising of a mother unmanned ship and a smaller autonomous vehicle. Through an innovative fully autonomous launch and recovery system (LARS), the Unmanned surface vehicle (USV) can detach and reconnect to the mother ship. The architecture of the LARS and the on-purposely designed control algorithms are here presented together with statistical recovery success analysis concerning the autonomous dynamic connection of the vehicles, so to assess the reliability of the system.