There's no documentation specifying a limit of height of an AP, it's a matter of RF design. 18 ft/6m is fine so long as it falls within the acceptable parameters of *your* design, maintains the minimum SNR required (the higher the AP, the lower the SNR at the ground), and fits with your client density requirements based around AP spacing. Using a planning tool like Ekahau can validate that. Yes we've had successful designs with high ceilings, and if you want to lower them, you can use a pendant mount to lower the AP if needed.
The 10feet comment is likely referencing what is considered the normal indoor office space ceiling heights.
If you need special accomodations (high density user design, high SNR requirements, etc) then other solutions can be architected, but we would need to know what those are.