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:

• P-ARC: Exploiting Subproblem Independence for Parallel Multi-Robot Motion Planning

  by James D. Motes, Marco Morales, Nancy M. Amato
  IEEE Robotics and Automation Letters (Early Access), November 2026

• Lazy-DaSH: A Lazy Approach for Hypergraph-Based Multirobot Task and Motion Planning

  by Seongwon Lee, James D. Motes, Isaac Ngui, Marco Morales Aguirre, Nancy M. Amato
  IEEE Transactions on Robotics, July 2026

• AO-ARC: Almost-Surely Asymptotically Optimal Multi-Robot Motion Planning with ARC

  by James D. Motes, Marco Morales, Nancy M. Amato
  arXiv Preprint, June 2026

• Scalable Multi-robot Motion Planning via Hierarchical Subproblem Expansion and Workspace Decomposition Refinement

  by Isaac Ngui, Courtney McBeth, James D. Motes, Marco Morales, Nancy M. Amato
  17th World Symposium on the Algorithmic Foundations of Robotics (WAFR 2026), June 2026

• Multi-Robot Motions in Milliseconds: Vector-Accelerated Primitives for Sampling-Based Planning

  by James D. Motes, Marco Morales, Nancy M. Amato
  arXiv Preprint, April 2026

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

  by Courtney McBeth, James D. Motes, Isaac Ngui, Marco Morales, Nancy M. Amato
  IEEE Robotics and Automation Letters, February 2026

• An Analysis of Constraint-Based Multiagent Pathfinding Algorithms

  by Hannah Lee, James D. Motes, Marco Morales Aguirre, Nancy M. Amato
  IEEE Transactions on Robotics, December 2025

• SPITE: Simple Polyhedral Intersection Techniques for Motion Planning in Modified Environments

  by Stav Ashur, Maria Lusardi, Marta Markowicz, James Motes, Marco Morales, Sariel Har-Peled, Nancy M. Amato
  Algorithmic Foundations of Robotics XVI, Volume 1 (WAFR 2024), October 2025

• ERUPT: An Open Toolkit for Interfacing with Robot Motion Planners in Extended Reality

  by Isaac Ngui, Courtney McBeth, André Santos, Grace He, Katherine J. Mimnaugh, James D. Motes, Luciano Soares, Marco Morales, Nancy M. Amato
  ArXiv Preprint, October 2025

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

  by Mike Qin, Irving Solis, James D. Motes, Marco Morales, Nancy M. Amato
  IEEE Robotics and Automation Letters, August 2025

• Serialized Red-Green-Gray: Quicker Heuristic Validation of Edges in Dynamic Roadmap Graphs

  by Yulie Arad, Stav Ashur, Marta Markowicz, James Motes, Marco Morales, Nancy M. Amato
  May 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

• 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, April 2025

• Extended Reality System for Robotic Learning from Human Demonstration

  by Isaac Ngui, Courtney McBeth, Grace He, André Corrêa Santos, Luciano Soares, Marco Morales, Nancy M. Amato
  2025 IEEE Conference on Virtual Reality and 3D User Interfaces Abstracts and Workshops (VRW), March 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

• 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

• Experience-based multi-agent path finding with narrow corridors

  by Rachel A. Moan, Courtney McBeth, Marco Morales, Nancy M. Amato, Kris Hauser
  Robotics: Science and Systems XX, July 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

• 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

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

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

• 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 Aguirre, Nancy M. Amato
  IEEE Transactions on Robotics, 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

• 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

• Hierarchical Planning With Annotated Skeleton Guidance

  by Diane Uwacu, Ananya Yammanuru, Marco Morales, Nancy M. Amato
  IEEE Robotics and Automation Letters, August 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 for Optimal Multi-Agent Pathfinding

  by Hannah Lee, James Motes, Marco Morales, Nancy Amato
  IEEE Robotics and Automation Letters, July 2021

• Motion Planning using Hierarchical Aggregation of Workspace Obstacles

  by Mukulika Ghosh, Shawna Thomas, Marco Morales, Sam Rodriguez, 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