In supervisor synthesis achieving nonblockingness is a major computational challenge
when a target system consists of a large number of local components. To overcome
this difficulty we propose an approach to synthesize a coordinated distributed supervisor,
where the plant is modeled by a collection of nondeterministic finite-state automata
and the requirement is modeled by a collection of deterministic finite-state automata.
The synthesis is based on a previously developed automaton abstraction technique. We
provide a sufficient condition, which guarantees the maximum permissiveness of the synthesized
coordinated distributed supervisor. In addition, we show that the problem of
finding a coordinator with the minimum number of states is NP-hard.