I can only address this from the U.S. Navy perspective.
Our U.S. ROE always insists upon self defense. Both the boarding party and the commanding officer of the Navy warship know that if they are fired upon they can respond with appropriate force to achieve self defense.
The U.S. Navy warship commanding officer also knows how to rapidly “reach back” for assistance should his troops become involved in a fire fight. This assistance could come in the form of armed helecopters or trained units of SEALs, marines or soldiers praticed in ship boarding and tactics.
I think it is also safe to say that the U.S. Navy commanding officer engaged in these kinds of operations will tensely be maneuvering his ship continuously while his boarding party is near or embarked in the boarded vessels. The U. S. Navy commanding officer will normally be in continuous communications with his boarding party and he’ll try to keep a visual contact with his team whenever possible.
While the Navy ship is conducting the boarding, the combat team of the warship is watching for any sign of trouble. Sea surface and air radar is closely monitored, radio and other electronic emissions that might “tip off’ the warship to impending trouble are continuously scanned and etc. The crew of the warship needs to be vigilant and alert.
It is important to note that Iran committed an act of war here by abducting uniformed sailors and marines of another sovereign nation. It is also important to note that the British were and are operating under a U.N. mandate. The Iranians have also violated several other laws and conventions. Using the British sailors and marines on television or in any other public way is a violation of the Geneva Conventions.
Admiral James A. “Ace” Lyons also commented on this incident and there is a link to his essay at the end.
Jack Kelly’s commentary:
http://www.nowpublic.com/brits_cave_mullahs_win_at_sea
Commentary by Admiral James A. “Ace” Lyons:
http://www.nowpublic.com/iran_and_america
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