In our troop the adults form the Old Goat Patrol, wearing a patch showing an old goat in a camp chair with umbrella, drinking lemonade. On our patch is our patrol saying: "Ask Your Patrol Leader!" Our regular adult campers/ leaders include both moms and dads.
Our patrol is usually only made up of the adult drivers to a camp (about 6 or 7), along with the SPL (who has no Duty Roster duties, but eats with us and places his tent/sleeping area between the adults and the boys); but for a nearby camp such as Camporee (usually our first campout after crossovers from packs), or our annual campout where we invite Webelos II from local packs, we end up with a larger adult patrol (around 20). Our usual ratio is one adult for every 4 boys on most campouts.
We have no problems with this, as we need the drivers, and allowing them to stay gives us more volunteers for driving then just dropping off and picking up would. They get to see how the boys are progressing, and learn to let them be on their own (awards for most independent new adult and most independent new Scout camper are a feature of early year camps). They also end up learning the skills required for rank, and so can help their own boys if asked at home. Most of the adult campers are active in the troop as registered leaders, and those that aren't usually become registered after a few campouts. They allow us to have more flexibility in camp programs and give us additional resources for learning, as it is impossible for only a few people to know everything. We are lucky to have adults skilled in a variety of different fields (botany, geology, nature, science, wilderness and others), allowing us to provide a wide array of learing beyond just basic scout skills (between our leaders, we have merit badge counselors for all of the Eagle required badges and a number of electives). We have the adventurous (hikers, rock climbers, backpackers, skilled water and snow sports enthusiasts) and those that prefer car camps (and like to teach things like area lore and dutch oven cooking). By their involvement, the boys see the enjoyment of camping, and not just going to fulfill requirements for rank.
To limit the outdoor program to just SM and ASM's would degrade the opportunities our boys enjoy. I don't ever anticipate there would be occasion where all or most of the adults came to the same camp, but I would be loathe to say 'no' if they so chose.