  The goal of this paper is to obtain online abstractions for coupled
multi-agent systems in a decentralized manner. A discrete model which captures
the motion capabilities of each agent is derived over a bounded time-horizon,
by discretizing a corresponding overapproximation of the agent's reachable
states. The individual abstractions' composition provides a correct
representation of the coupled continuous system over the horizon and renders
the approach appropriate for control synthesis under high-level specifications
which are assigned to the agents over this time window. Sufficient conditions
are also provided for the space and time discretization to guarantee the
derivation of deterministic abstractions with tunable transition capabilities.
