To maintain superiority in the drastically changing course of modern warfare, the US armed forces need to be able to dominate the urban battlespace, with flexibility to conduct military operations against unconventional foes. The key to effective urban operations is an in-depth understanding of the population, forces and urban infrastructure at multiple levels of abstraction, including the physical, political, socio-economical, and psychological environments. Approaches that can successfully and effectively present the urban situation to warfighters are required. The Heterogeneous Urban RSTA -Reconnaissance, Surveillance, Target Acquisition - Team (HURT) is one program that aims to provide this critical state information to the warfighter by coordinating a diverse group of Unmanned Air Vehicles (UAVs) to observe the battlespace, update digital maps, and annotate recorded activity. Command and Control (C2) systems integral to the HURT system architecture provide autonomous task