@ARTICLE{He:RAL:2018, 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 = {2019}, MONTH = {Apr.}, PAGES = {285--292}, VOLUME = {4}, NUMBER = {2}, PAGES = {1--13}, DOI = {10.1109/LRA.2018.2889191}, NOTE = {(in-print)} }