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This paper presents a scalable acoustic navigation approach for the unifiedcommand, control and coordination of multiple autonomous underwater vehicles(AUVs). Existing multi-AUV operations typically achieve coordination manually,by programming individual vehicles on the surface via radio communications,which becomes impractical with large vehicle numbers; or they requirebi-directional inter-vehicle acoustic communications to achieve limitedcoordination when submerged, with limited scalability due to the physicalproperties of the acoustic channel. Our approach utilizes a single,periodically-broadcasting beacon acting as a navigation reference for the groupof AUVs, each of which carries a chip-scale atomic clock (CSAC) and fixedultra-short baseline (USBL) array of acoustic receivers. One-way travel-time(OWTT) from synchronized clocks and time-delays between signals received byeach array element allows any number of vehicles within receive distance todetermine range, angle, and thus determine their relative position to thebeacon. The operator can command different vehicle behaviors by selectingbetween broadcast signals from a predetermined set, while coordination betweenAUVs is achieved without inter-vehicle communication, by defining individualvehicle behaviors within the context of the group. Vehicle behaviors aredesigned within a beacon-centric moving frame of reference, allowing theoperator to control the absolute position of the AUV group by re-positioningthe navigation beacon to survey the area of interest. Multiple deployments witha fleet of three miniature, low-cost SandShark AUVs performing closed-loopacoustic navigation in real-time provide experimental results validated againsta secondary long-baseline (LBL) positioning system, demonstrating thecapabilities and robustness of our approach with real-world data.