Synonyms for Decamp (same or very similar meaning)
WordNet sense 1 (leave a camp):
break camp
WordNet sense 2 (run away; usually includes taking something or somebody along):
abscond, bolt, absquatulate, run off, go off, make off
WordNet sense 3 (leave suddenly):
skip, vamoose
From the ODE community, based on WordNet
add/edit