This paper presents One-Distributed-Multi-Agent-Plan. In this system, each agent is planning to carry out their goals and bound by the plan and to determine action steps. Action steps with the routine sequence of steps bound to the time sequence Equivalence of constraints and variables used restraint is not equivalent to not entirely routine steps; Programming is gradually adding and refining constraints on the planning process, algorithm based on the classic UCPOP Planning algorithm; through a special Multi-Agent arrange to check and clear up collision between Agent-Plan, then restriction their action. In this algorithm, The coordination and Conflict-Detection of the Agent-Plan consulted by Multi-Agent I.e.; the bound consistency of Distributed judgment between Agent-Plan; The algorithm is reliable in determining the environment, Since the algorithm is exchanged between agents and actions related to the conflict, and the causal chain bound Therefore it is a small amount of communication and high security advantages.