Charles County sheriff's deputies have arrested five Waldorf men and charged them with kidnaping, assault and sexual offenses in connection with an Aug. 21 attack on a 19-year-old woman.

Police said yesterday that Paul Benjamin Paulos, 22, and Dale Scott Craig, 21, were arrested Thursday night along with three brothers--David Wayne Cave, 27, William Gregory Cave, 24, and Andrew Ross Cave, 18. Andrew Cave lives on October Place in Waldorf, and the other four are residents of the 3200 block of Manning Court, police said.

Only one of the men, William Gregory Cave, was charged with first degree rape, according to a police spokesman, Sgt. Charles J. McDevitt.

All five men were charged with attempted first degree sex offense and assault with intent to maim, he said. All except Craig were charged with kidnaping.

The woman told police the attack occurred last Sunday at the home of David and William Cave, McDevitt said. She went to the house to visit a fourth brother, who did not participate and was not charged, he said.

The woman was repeatedly assaulted, McDevitt said. She left the house alone, he said. The woman reported the incident to police Wednesday, McDevitt said, and she was taken to Physicians' Memorial Hospital, where she was examined, treated for bruises and released, McDevitt said.

County District Court Judge Robert C. Nalley yesterday set bond at $30,000 each for Paulos and Andrew Cave, $150,000 for Craig, $100,000 for David Cave and $50,000 for William Cave, court clerk Richard A. Day said. The five were held at the county detention center, officials said.