Those named in the charge sheet were members of Popular Front of India (PFI) and its affiliated political organisation Social Democratic Party of India (SDPI), an NIA release said.
"A charge sheet was filed today before a special court here against five persons for killing RSS member Rudresh with an intention to strike terror among a section of the people," it said.
The NIA said its investigation established that the accused and others had conspiracy meetings prior to the terrorist act near Aksa Masjid, and Chota Charminar in Bengaluru in September 2016.
They decided to kill at least two RSS workers in uniform soon after their procession, the NIA said.
The killing of RSS workers would immediately strike terror in a section of people and prevent many of them from joining the organisation, the release added.
The intention to strike terror among a section of the people was achieved by the broad-daylight murder of Rudresh who was in uniform, using a lethal weapon on October 16, 2016, it said.
None of the accused, arrested last year, had personal enmity with the deceased Rudresh and was killed solely because of his leadership and membership to a particular organisation, it added.
They have been listed in the charge sheet under sections Indian Penal Code sections and under the Unlawful Activities (Prevention) Act, the agency said.
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