The DICE program seeks to develop the theory and algorithms for decentralized coordination and local inference control to enable a scalable, adaptive, and resilient collective of heterogeneous AI agents that can autonomously execute sustained long-time-horizon missions in contested environments while remaining under human control. In contrast to small-scale, rigid, and fragile centralized orchestration or the high-risk unpredictable nature of ad hoc compositions of AI agents, DICE aims to harness the scalability and adaptability of self-organizing systems while minimizing risks and ensuring that the collective behavior remains predictable and aligned with intended outcomes. This approach mirrors the principles of decentralized self-organization that underpin the internet's own scalability and resilience, where robust global behavior emerges from simple, local rules.