Abstract This paper discusses the problem of finding assignment of subtasks to agents which generate concurrent and synchronized plans to achieve the main task in minimum time. An approach is discussed wherein an initial plan is generated containing the basic inherent operations and their sequences, using a specific assignment of subtasks. The initial plan is then to estimate the multiagent plans and their completion time for each assignment of subtasks in order to identify the optimal assignment. A method used by this approach to generate the initial plan is also described. This approach is analyzed and compared with the exhaustive method of generating plans for all possible assignments of subtasks to agents.