Poseidon Team Description Paper robocup 2006 Bremen Nasrin Mostafazadeh,Saba Ardeshiri,Sepideh Movaghati Shadi Hariri,Zeinab Jahanzad,Alireza Fathi,Majid Valipour Tehran Farzanegan highschool Abstract. The aim of this paper is to technically describe Poseidon Team’s contributions to rescue agent development. each section clearly defines mathematical model of main problems in its area and discuss Poseidon’s approach to solve them while explaining existing solutions and their pros and cons. also each section is followed by a future work part which illustrates Poseidon road map toward Bremen 2006.