BlueStar – the beacon AUV: The BlueStar AUV is special configuration of the STARFISH AUV designed to play the role of a positioning beacon in cooperative missions. It consists of a baseline vehicle enhanced with a DVL section, providing it high-accuracy positioning capability. The DVL allows measurement of vehicle speed over ground, which is then integrated to yield as estimate of vehicle position. In multi-vehicle cooperative missions, the BlueStar broadcasts its position regularly. By measuring range to BlueStar, other AUVs are then able to refine estimates of their own positions. The BlueStar AUV has evolved from the first generation design, with the acoustic modem transducer located at the communication tower.