We characterize dark-type vector optical solitons of arbitrary polarization in isotropic, Kerr-type media by applying Hirota's method to the integrable Manakov model with a defocusing nonlinearity. We find that nonuniformly polarized solitons comprise a rich solution family that can be divided into two categories: dark-dark and dark-bright vector solitons. We consider the propagation dynamics and the interactions of these vector solitons by deriving multisoliton solutions, and show the existence of stationary bound states, a phenomenon not observed for scalar dark solitons.
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