@article{He:RAL:2019, title={Automated Abstraction of Manipulation Domains for Cost-Based Reactive Synthesis}, author={He, Keliang and Lahijanian, Morteza and Kavraki, Lydia E and Vardi, Moshe Y}, journal={IEEE Robotics and Automation Letters}, volume={4}, number={2}, pages={285--292}, year={2019}, month = {April}, publisher={IEEE}, DOI={10.1109/LRA.2018.2889191}, }