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The Milne coordinates on Minkowski space are a bit special as far as they go. Unlike most cases of RW spacetimes where there exists a t such that a(t)=0, the corresponding singularity is just a coordinate singularity and the spacetime can be extended to Minkowski space even if you just start with the Milne coordinates.
The Milne model is expanding in the sense that comoving observers of the Milne coordinates get further and further away from eachother. This is a property of the set of comoving observers chosen. In a similar vein, comoving observers of the usual Minkowski coordinates are different and they are at rest relative to eachother.
The fact that there are different RW coordinates on the same spacetime is related to the fact that there are several ways of foliating Minkowski space into homogeneous and isotropic spacelike surfaces.
The Milne model is expanding in the sense that comoving observers of the Milne coordinates get further and further away from eachother. This is a property of the set of comoving observers chosen. In a similar vein, comoving observers of the usual Minkowski coordinates are different and they are at rest relative to eachother.
The fact that there are different RW coordinates on the same spacetime is related to the fact that there are several ways of foliating Minkowski space into homogeneous and isotropic spacelike surfaces.