Now don't need to product all the Buchi automata of multi-agent
Through specifying couple task, we can distinguish the couple edges
1.How to find couple edges.
2.Prove: The decouple product automata doesn't damage the completeness of solutions.
3.Construct the motion path for the RRC(request-reply-confirm) connect
To complete the fully distribute, we design a communication mechanism called 'request-reply-confirm'
1.Receding horizon: find the nearest request.
2.Solve optimization problem to find which agent to reply corresponding request(How about multi-request).
3.After the confirm of agent, what to do next???