Rapid technical advancement has seen a move away from more traditional methods of mine clearance operations such as the use of divers in favour of using unmanned and remote vehicles. Remotely Operated Vehicles (ROVs) are now used extensively in offshore and military operations for complex inspection tasks where Dynamic Positioning (DP) software is used to reduce operator workload and provide stability to the platform in-mission. Developments in sophisticated control systems for ROVs have equipped the vehicles to be able to precisely navigate dangerous and hard to reach environments. This makes them an ideal platform for Explosive Ordinance Disposal (EOD) operations. The move by EOD operations towards man-portable platforms is placing further demand on the dynamic positioning software to provide the required control stability. Meanwhile the requirement for autonomy capabilities to execute complex aspect of the tasks continues to rise. ROV DP software must not only enable precise, hands off navigation, but to accomplish intervention tasks, it must provide the additional control and stability to the joint vehicle-manipulator system that will be interacting with the target. To move from purely inspection based activities to active intervention, the ability of the system to effectively control of manipulators is vital. While these tasks are commonplace in the commercial industry using large work class ROV's, mounting small, electric, low power, high strength manipulator arms onto smaller form factor ROVs raises research challenges around control and the modelling of the dynamics between the vehicle and arm. SeeByte has developed sophisticated coupled control algorithms to control both manipulator and ROV as one system. This control architecture has now been built upon and demonstrated, adding autonomy capabilities to complex parts of the EOD mission, allowing the vehicle to automatically search, approach, inspect and terminal home onto possible mine-like threats. This paper will present techniques to stabilize small ROV systems to carry out intervention tasks while maintaining control of the vehicle.