Since I was looking for an clarifying answer to this to determine the right type for notification icons, I'd like to add this clear statement to the topic. It's from http://developer.android.com/tools/help/image-asset-studio.html#saving
Note: Launcher icon files reside in a different location from that of other icons. They are located in the mipmap/ folder. All other icon files reside in the drawable/ folder of your project.