This paper contains a description of the project TRADR: Long-Term Human-Robot Teaming for Robot Assisted Disaster Response. As robotic disaster relief systems are still scarce, any incident serious enough to render robot involvement will most likely involve a sequence of sorties over several hours, days and even months. TRADR focuses on the persistence of environment models, multi-robot action models, and human-robot teaming, in order to allow incremental capability improvement over the duration of a mission. TRADR applies a user centric design approach to disaster response robotics, with use cases involving the response to a medium to large scale industrial accident by teams consisting of human rescuers and several robots (both ground and airborne). The paper overviews the project objectives and motivation, the structure and approach, as well as the partners and related work. Keywords disaster response robotics · persistent environment models · persistent multi-robot action models · persistent human-robot teaming · user-centric design