@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)}
}