@ARTICLE{He:RAL:2019,
  AUTHOR =       {Keliang He and Morteza Lahijanian and Lydia E. Kavraki and Moshe Vardi},
  TITLE =        {Automated Abstraction of Manipulation Domains for Cost-Based Reactive Synthesis},
  JOURNAL =    	 {IEEE Robotics and Automation Letters},
  YEAR =         {2018},
  NOTE =         {(accepted)}
}