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On a bright fall day last year off the coast of Southern California, an Air Force B-1 bomber launched an experimental missile that may herald the future of warfare.

Initially, pilots aboard the plane directed the missile, but halfway to its destination it severed communication with its operators. Alone, without human oversight, the missile decided which of three ships to attack, dropping to just above the sea surface and striking a 260-foot unmanned freighter.

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The test was deemed a military success. But the design of this new missile and other weapons that can pick targets on their own has stirred protests from some analysts and scientists, who fear that an ethical boundary is being crossed.

Arms-makers, they say, are taking the first steps toward developing robotic war machines that rely on software, not human instruction, to decide what to target and whom to kill. The speed at which these weapons calculate and move will make them increasingly difficult for humans to control, critics say – or to defend against.