The FAO taxonomy is the most appropriate, although I do not know if the tropical crabs are included. Otherwise you have to search for an other taxonomy written by local or regional colleagues
Certainly, FAO has issued several manuals for different parts of the world. the interested party should search in the publications section of www.fao.org for appropriate materials.
There are some book identification for crabs species of Ocypodidae, Portunidae, and Grapsidae but I do not know about the soft copy. If you are working in east Asia for the first may be can use Ai-Yun, D., dan Si-liang, Y. 1991. Crabs of The China Seas. China Ocean Press Beijing. This is enough to identified the family but for species you have to use book (publication) for each species.
Try the following publication from FAO: The Living Marine Resources of the Western Central Pacific, which can be downloaded from: http://www.fao.org/docrep/009/w7191e/w7191e00.htm
FAO has several editions for different areas of the world and you should choose the appropriate one for your region. You should take into account that the species covered by FAO in its publications are the edible ones, so many crab species wont´t be shown in them.
I also wish to recommend the review of the following papers on mangrove fauna from Venezuela, which may be of help on the relationshing within the mangrove community:
Díaz, Humberto and Conde, Jesús Eloy 1989. Population Dynamics and Life History of the Mangrove Crab Aratus Pisonii (Brachyura, Grapsidae) in a Marine Environment. Bulletin of Marine Science, Volume 45, Number 1, July 1989 , pp. 148-163(16)
Conde E. and H. Diaz. The mangrove tree crab Aratus pisonii in a tropical estuarine coastal lagoon. Estuarine, Coastal and Shelf Science- 28(6): 639–650
If you are working in India, you may please refer Dr.Chhapgar,s ref. Crabs of Bombay 1957 from Taraporewala aquarium Bombay. Also refer Marine species Identification portal in Internet. Older publications from India are by Alcock. Good Luck. Many publications by Dr.Peter Ng of Raffles Museum, Singapore, are excellent source.
There's a book referred as MANUAL GUIDE FOR CRUSTACEANS PHYLOGENY , U CAN GET THAT BOOK OR go by google search , i think u will get correct response and detailed characters of crustacean decapods.
as i have been working on the same subject at the Bombay region, can u help me by sharing any materials or links. Please share if u got anything for identification of crabs especially mangrove associates.