This paper presents a join experience in modelling the requirements of the product
line of teleoperated systems for ship hull maintenance, which are basically robotic systems used for ship maintenance operations, such as cleaning or painting the ship hull. It is proposed to specify the product line requirements through a feature model, a conceptual model, and a use case model, which together allow domain understanding, derivation of reusable product line
requirements, and efficient decision-making in the specification of new systems developed in the product line. Action Research, a qualitative research method in software engineering, has been applied to define the collaborative research process
