@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},
}