This paper proposes a new multiagent planning approach to coordination synthesis that views distributed agents as discrete-event processes. The connection between discrete-event control synthesis and coordination planning is first established, thereby enabling the exploitation of the vast body of knowledge and associated software synthesis tools from ?The Supervisory Control of Discrete-Event Systems? for automatic coordination synthesis of distributed agents. Importantly, these coordinating agents designed collectively generate a behaviour guaranteed not to contradict any specified inter-agent constraint, is nonblocking and optimal. A simple planning methodology is proposed in terms of procedures supported by CTCT, an existing, freely available design tool developed based on the control synthesis framework.Asimple example illustrates the use of the CTCT-based methodology to synthesize coordination modules for distributed agents. Discussions in relation to previous work examine the relative significance of the new multiagent planning framework.