RoboCupRescue project aims to simulate large urban disasters. In order to minimize damage resulting from disasters, various rescue agents try to accomplish their missions in the disaster space in the simulation system. Ability of an individual agent, however, is utterly insufficient. Agents need to cooperate with other same and different types utilizing as little communication as possible under stringently limited visual sensory information. Our YabAI team, however, successfully implemented effective cooperations under this limitation.