  In LegenDary project, we started a new research based on Agent2D in RoboCup
2D soccer simulation. In this paper, we mainly present the team algorithms and
structures which we used to develop our team in separated section. We have
focused on passing, dribbling and blocking skills. We improved them and made
the team ready for this competition. Through pass is the most important part of
our team that we work a lot on it.
