If you are defining your menu in an XML, then something like this will ensure the icons are always picked up from the corresponding SDK drawables.
<item
android:id="@+id/menuID"
android:icon="@android:drawable/ic_menu_add"
android:showAsAction="always"
android:title="Some Label">
</item>
If you are adding your Menu Items in your Java code, something like this should do it:
menu.add(1, 1, 1, "Some Label").setIcon(android.R.drawable.ic_menu_add);
Note: You should check if the icons you intend to use are common across all platforms to ensure a uniform and error free functioning for your users.