This disclosure provides systems, methods, and apparatus for intercepting a moving target by a plurality of interceptors that individually have insufficient capability to achieve intercept. An electronic processor can receive information corresponding to a state of the moving target at a first time. The electronic processor can determine a plurality of hypotheses for the future maneuvers of the moving target. The hypotheses can be based in part on the state of the moving target at the first time and the location of any defended assets. The electronic processor can assign a respective target maneuver hypothesis or set of hypotheses to each of a plurality of interceptors. The electronic processor can assign firing times and/or initial guidance commands to each interceptor. The electronic processor can control each interceptor to maneuver such that the moving target is intercepted, based on the respective target maneuver hypotheses.