@article{admissibleabstractionsfornearoptimaltask,
  title = {Admissible Abstractions for Near-optimal Task and Motion Planning},
  author = {William Vega-Brown and Nicholas Roy},
  year = {2018},
  eprint = {1806.00805},
  archivePrefix = {arXiv},
  url = {http://arxiv.org/abs/1806.00805v1},
}