For a domestic flight do you only need to have your bags checked once

For a domestic flight do you only need to have your bags checked once?
I'm going from Indianapolis to Richmond soon and there is no direct route so I have to connect in Atlanta first. Do I need to have my bags checked again? I'll be using AirTran.
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In my experience with AirTran and connector flights, I've only had one bag check-in. The baggage handlers will transfer your bags from plane to plane in Atlanta. I hope that helps :)