The Cooperative Attack Munition Real Time Assessment (CAMRA) project is a joint project between the Intelligent Software Agents Lab in the Robotics Institute and the University of Pittsburgh to develop large teams of autonomous Wide Area Search Munitions (WASMs) that can be controlled by a small number of human operators. A WASM is a cross between an unmanned aerial vehicle – it can sense its environment and react to changing situations – and a smart bomb – it can destroy targets by hitting them. The Air Force sponsors of the project envision having hundreds or even thousands of WASMs flying in support of troops within hostile battle spaces. Achieving this vision requires overcoming some significant technical challenges. CMU’s role in this project is to develop the algorithms required to achieve cohesive, flexible and robust coordination in the hostile environment.