  In the course of the selection of the scientific themes for the second and
third L-class missions of the Cosmic Vision 2015-2025 program of the European
Space Agency, the exploration of the ice giant planets Uranus and Neptune was
defined "a timely milestone, fully appropriate for an L class mission". Among
the proposed scientific themes, we presented the scientific case of exploring
both planets and their satellites in the framework of a single L-class mission
and proposed a mission scenario that could allow to achieve this result. In
this work we present an updated and more complete discussion of the scientific
rationale and of the mission concept for a comparative exploration of the ice
giant planets Uranus and Neptune and of their satellite systems with twin
spacecraft. The first goal of comparatively studying these two similar yet
extremely different systems is to shed new light on the ancient past of the
Solar System and on the processes that shaped its formation and evolution.
This, in turn, would reveal whether the Solar System and the very diverse
extrasolar systems discovered so far all share a common origin or if different
environments and mechanisms were responsible for their formation. A space
mission to the ice giants would also open up the possibility to use Uranus and
Neptune as templates in the study of one of the most abundant type of
extrasolar planets in the galaxy. Finally, such a mission would allow a
detailed study of the interplanetary and gravitational environments at a range
of distances from the Sun poorly covered by direct exploration, improving the
constraints on the fundamental theories of gravitation and on the behaviour of
the solar wind and the interplanetary magnetic field.
