When is a Riemannian submersion homogeneous?

We study the structure of the most common type of Riemannian submersions, namely those whose fibers are given by the orbits of an isometric group action on a Riemannian manifold. Special emphasis is given to the case where the ambient space has nonnegative curvature. The first author was supported by research grant MTM2004-04794-MEC. Most of this work was done during a visit of the second author to Madrid, financed in part by funds of the aforementioned grant.