Marco Morales Aguirre

My research interests are in motion planning and control for autonomous robots, artificial intelligence, machine learning, and computational geometry.

Papers with Parasol Lab:

• HAS-RRT: RRT-based Motion Planning using Topological Guidance

  by Diane Uwacu, Ananya Yammanuru, Keerthana Nallamotu, Vasu Chalasani, Marco Morales, Nancy M. Amato
  IEEE Robotics and Automation Letters, September 2025

• PRISM: Complete Online Decentralized Multi-Agent Pathfinding with Rapid Information Sharing using Motion Constraints

  by Hannah Lee, Zachary Serlin, James Motes, Brendan Long, Marco Morales, Nancy M. Amato
  ArXiv Preprint, May 2025

• K-ARC: Adaptive Robot Coordination for Multi-Robot Kinodynamic Planning

  by Mike Qin, Irving Solis, James Motes, Marco Morales, Nancy M. Amato
  ArXiv, January 2025

• Experience-based Subproblem Planning for Multi-Robot Motion Planning

  by Irving Solis, James Motes, Mike Qin, Marco Morales, Nancy M. Amato
  ArXiv, November 2024

• Lazy-DaSH: Lazy Approach for Hypergraph-based Multi-robot Task and Motion Planning

  by Seongwon Lee, James Motes, Isaac Ngui, Marco Morales, Nancy M. Amato
  ICRA@40, October 2024

• Distributed Constraint-Based Search using Multi-Hop Communication

  by Hannah Lee, James Motes, Zachary Serlin, Marco Morales, Nancy M. Amato
  Extended Abstract for IEEE International Conference on Robotics and Automation @ 40 (ICRA@40), September 2024

• Extended Reality System for Robotic Learning from Human Demonstration

  by Isaac Ngui, Courtney McBeth, Grace He, Andre Correa Santos, Luciano Soares, Marco Morales, Nancy M. Amato
  ArXiv Preprint, September 2024

• Adaptive Robot Coordination: A Subproblem-based Approach for Hybrid Multi-Robot Motion Planning

  by Irving Solis, James Motes, Mike Qin, Marco Morales, Nancy M. Amato
  IEEE Robotics and Automation Letters, June 2024

• Scalable Multi-Robot Motion Planning Using Guidance-Informed Hypergraphs

  by Courtney McBeth, James Motes, Isaac Ngui, Marco Morales, Nancy M. Amato
  ArXiv Preprint, June 2024

• A Hierarchical Approach to Workstation-based Task Allocation and Motion Planning

  by Isaac Ngui, Seongwon Lee, James Motes, Marco Morales, Nancy M. Amato
  IROS 2023, May 2024

• Hierarchical Annotated Skeleton-Guided Tree-based Motion Planning

  by Diane Uwacu, Ananya Yammanuru, Keerthana Nallamotu, Vasu Chalasani, Marco Morales, Nancy M. Amato
  arXiv Preprint, September 2023

• Hypergraph-Based Multi-robot Task and Motion Planning

  by James Motes, Tan Chen, Timothy Bretl, Marco Morales, Nancy M. Amato
  IEEE Transactions on Robotics (TRO), August 2023

• Scalable Multi-robot Motion Planning for Congested Environments With Topological Guidance

  by Courtney McBeth, James Motes, Diane Uwacu, Marco Morales, Nancy M. Amato
  In IEEE Robotics and Automation Letters, August 2023

• Discrete State-Action Abstraction via the Successor Representation

  by Amnon Attali, Pedro Cisneros-Velarde, Marco Morales, Nancy M. Amato
  arXiv preprint, May 2023

• Hierarchical Planning With Annotated Skeleton Guidance

  by Diane Uwacu, Ananya Yammanuru, Marco Morales, Nancy M. Amato
  IEEE Robotics and Automation Letters (RA-L), October 2022

• Evaluating Guiding Spaces for Motion Planning

  by Amnon Attali, Stav Ashur, Isaac Burton Love, Courtney McBeth, James Motes, Diane Uwacu, Marco Morales, Nancy M. Amato
  IROS 2022, Workshop for Evaluating Motion Planning Performance, October 2022

• Insights from an Industrial Collaborative Assembly Project: Lessons in Research and Collaboration

  by Tan Chen, Zhe Huang, James Motes, Junyi Geng, Quang Minh Ta, Holly Dinkel, Hameed Abdul-Rashid, Jessica Myers, Ye-Ji Mun, Wei-che Lin, Yuan-yung Huang, Sizhe Liu, Marco Morales, Nancy M Amato, Katherine Driggs-Campbell, Timothy Bretl
  ICRA 2022 WORKSHOP ON COLLABORATIVE ROBOTS AND THE WORK OF THE FUTURE, May 2022

• Parallel Hierarchical Composition Conflict-Based Search

  by Hannah Lee, James Motes, Marco Morales, Nancy M. Amato
  IEEE/RSJ International Conference on Intelligent Robots and Systems, July 2021

• Motion Planning using Hierarchical Aggregation of Workspace Obstacles

  by Mukulika Ghosh, Shawna Thomas, Marco Morales, Sam Rodriguez, and Nancy M. Amato
  In Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), October 2016

• Planning Motions for Shape-Memory Alloy Sheets

  by Mukulika Ghosh, Daniel Tomkins, Jory Denny, Sam Rodriguez, Marco Morales Aguirre, Nancy M. Amato
  Origami, December 2015

• Adapting RRT Growth for Heterogeneous Environments

  by Jory Denny, Marco Morales, Samuel Rodriguez, Nancy M. Amato
  In. Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), November 2013

• Incremental Map Generation (IMG)

  by Dawen Xie, Marco Morales, Roger Pearce, Shawna Thomas, Jyh-Ming Lien, Nancy M. Amato
  Algorithmic Foundation of Robotics VII, January 2008

• Biasing Samplers to Improve Motion Planning Performance

  by Shawna Thomas, Marco Morales, Xinyu Tang, Nancy M. Amato
  In Proc. IEEE International Conference on Robotics and Automation (ICRA), April 2007

• Analysis of the Evolution of C-Space Models Built through Incremental Exploration

  by Marco Morales, Roger Pearce, Nancy M. Amato
  in Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), April 2007

• C-Space Subdivision and Integration in Feature-Sensitive Motion Planning

  by Marco A. Morales A., Lydia Tapia, Roger Pearce, Samuel Rodriguez, Nancy M. Amato
  In Proc. IEEE International Conference on Robotics and Automation (ICRA), April 2005

• A Machine Learning Approach for Feature-Sensitive Motion Planning

  by Marco Morales, Lydia Tapia, Roger Pearce, Samuel Rodriguez, Nancy M. Amato
  In Proc. Int. Wkshp. on Alg. Found. of Rob. (WAFR), July 2004

• Improving the Connectivitiy of PRM Roadmaps

  by Marco Morales, Samuel Rodriguez, Nancy M. Amato
  In Proc. IEEE Int. Conf. Robot. Autom. (ICRA), September 2003

• Neuron PRM: A Framework for Constructing Cortical Networks

  by Jyh-Ming Lien, Marco Morales, Nancy M. Amato
  Neurocomputing, June 2003