Publications

Checked against the CV: October 16, 2026 Google Scholar

Manuscripts under review

Multi-Robot Motions in Milliseconds: Vector-Accelerated Primitives for Sampling-Based Planning
James D. Motes, Marco Morales, Nancy M. Amato
Under review 2026
Accelerated Planning Infrastructure
paper scholar
AO-ARC: Almost-Surely Asymptotically Optimal Multi-Robot Motion Planning with ARC
James D. Motes, Marco Morales, Nancy M. Amato
Under review 2026
Selective Coordination
paper
RoboCheck: A Fast, Exact Massively Parallel Collision Checker for Mobile Robotics
V. Murta, I. B. Love, James D. Motes, Marco Morales, Nancy M. Amato
Under review (submitted) 2026
Accelerated Planning Infrastructure
MR-SPITE: Accelerating Multi-Robot Conflict Scans via Hierarchical Swept-Volume Approximations
M. Markowicz, James D. Motes, Marco Morales, Nancy M. Amato
Under review (submitted) 2026
Accelerated Planning Infrastructure
paper
Serialized Red-Green-Gray: Quicker Heuristic Validation of Edges in Dynamic Roadmap Graphs
Y. Arad, M. Markowicz, S. Ashur, James D. Motes, Marco Morales, Nancy M. Amato
Under review 2026
Accelerated Planning Infrastructure
paper scholar
Experience-Based Subproblem Planning for Multi-Robot Motion Planning
I. Solis, James D. Motes, J. Montalvo, M. Qin, Marco Morales, Nancy M. Amato
Under review 2024
Selective Coordination Learning-Guided Coordination
paper scholar

2026

P-ARC: Exploiting Subproblem Independence for Parallel Multi-Robot Motion Planning
James D. Motes, Marco Morales, Nancy M. Amato
IEEE Robotics and Automation Letters (RA-L) 2026
Accelerated Planning Infrastructure
paper
Lazy-DaSH: A Lazy Approach for Hypergraph-Based Multirobot Task and Motion Planning
S. Lee, James D. Motes, I. Ngui, Marco Morales, Nancy M. Amato
IEEE Transactions on Robotics (T-RO), vol. 42 2026
Selective Coordination
doi paper scholar
Scalable Multi-Robot Motion Planning Using Workspace Guidance-Informed Hypergraphs
C. McBeth, James D. Motes, I. Ngui, Marco Morales, Nancy M. Amato
IEEE Robotics and Automation Letters (RA-L), vol. 11 2026
Selective Coordination
doi scholar
An Analysis of Constraint-Based Multiagent Pathfinding Algorithms
H. Lee, James D. Motes, Marco Morales, Nancy M. Amato
IEEE Transactions on Robotics (T-RO), vol. 42 2026
Presented at ICRA, Vienna, Austria, June 2026.
Selective Coordination
doi scholar
ERUPT: An Open Toolkit for Interfacing with Robot Motion Planners in Extended Reality
I. Ngui, C. McBeth, A. Santos, G. He, K. J. Mimnaugh, James D. Motes, L. Soares, Marco Morales, Nancy M. Amato
International Conference on Artificial Reality and Telexistence and Eurographics Symposium on Virtual Environments (ICAT-EGVE) 2026
Presented at ICAT-EGVE 2026, Goiânia, Brazil, September 2026.
Interactive Planning
paper scholar
Scalable Multi-Robot Motion Planning via Hierarchical Subproblem Expansion and Workspace Decomposition Refinement
I. Ngui, C. McBeth, James D. Motes, Marco Morales, Nancy M. Amato
Algorithmic Foundations of Robotics XVII: Proceedings of the Seventeenth World Symposium on the Algorithmic Foundations of Robotics (WAFR) 2026
Selective Coordination
paper scholar
SPITE: Simple Polyhedral Intersection Techniques for Motion Planning in Modified Environments
S. Ashur, M. Lusardi, M. Markowicz, James D. Motes, Marco Morales, S. Har-Peled, Nancy M. Amato
Algorithmic Foundations of Robotics XVI, Volume 1, Springer Proceedings in Advanced Robotics, vol. 37, Springer 2026
Presented at the Workshop on the Algorithmic Foundations of Robotics (WAFR), 2024.
Accelerated Planning Infrastructure
doi scholar

2025

K-ARC: Adaptive Robot Coordination for Multi-Robot Kinodynamic Planning
M. Qin, I. Solis, James D. Motes, Marco Morales, Nancy M. Amato
IEEE Robotics and Automation Letters (RA-L), vol. 10 2025
Presented at ICRA, Vienna, Austria, June 2026.
Selective Coordination
doi scholar
Modifying ABIT* for Tethered Rappelling Robot Motion Planning
A. Goddu, T. Brown, M. Paton, James D. Motes, T. Chen
Proceedings of the 2025 IEEE 21st International Conference on Automation Science and Engineering (CASE) 2025
Accelerated Planning Infrastructure
doi scholar

2024

Adaptive Robot Coordination: A Subproblem-based Approach for Hybrid Multi-Robot Motion Planning
I. Solis, James D. Motes, M. Qin, Marco Morales, Nancy M. Amato
IEEE Robotics and Automation Letters (RA-L) 2024
Presented at IEEE ICRA@40, Rotterdam, The Netherlands, September 2024.
Selective Coordination
doi scholar

2023

Scalable Multi-Robot Motion Planning for Congested Environments With Topological Guidance
C. McBeth, James D. Motes, D. Uwacu, Marco Morales, Nancy M. Amato
IEEE Robotics and Automation Letters (RA-L) 2023
Presented at ICRA, Yokohama, Japan, May 2024.
Selective Coordination
doi scholar
Hypergraph-Based Multi-Robot Task and Motion Planning
James D. Motes, T. Chen, T. Bretl, Marco Morales, Nancy M. Amato
IEEE Transactions on Robotics (T-RO) 2023
Presented at ICRA, Yokohama, Japan, May 2024.
Selective Coordination
doi scholar

2021

Parallel Hierarchical Composition Conflict-Based Search for Optimal Multi-Agent Pathfinding
H. Lee, James D. Motes, Marco Morales, Nancy M. Amato
IEEE Robotics and Automation Letters (RA-L), vol. 6 2021
Presented at IROS, Prague, Czech Republic, 2021 (virtual).
Selective Coordination
doi scholar
Representation-Optimal Multi-Robot Motion Planning Using Conflict-Based Search
I. Solis, James D. Motes, R. Sandström, Nancy M. Amato
IEEE Robotics and Automation Letters (RA-L), vol. 6 2021
Presented at ICRA, Xi’an, China, 2021 (virtual).
Selective Coordination
doi scholar

2020

Multi-Robot Task and Motion Planning With Subtask Dependencies
James D. Motes, R. Sandström, H. Lee, S. Thomas, Nancy M. Amato
IEEE Robotics and Automation Letters (RA-L), vol. 5 2020
Presented at ICRA, Paris, France, 2020 (virtual).
Selective Coordination
doi scholar

2019

Interaction Templates for Multi-Robot Systems
James D. Motes, R. Sandström, W. Adams, T. Ogunyale, S. Thomas, Nancy M. Amato
IEEE Robotics and Automation Letters (RA-L), vol. 4 2019
Presented at IROS, Macao, China, 2019.
Selective Coordination
doi scholar

Preprints and technical reports

PRISM: Complete Online Decentralized Multi-Agent Pathfinding With Rapid Information Sharing Using Motion Constraints
H. Lee, Z. Serlin, James D. Motes, B. Long, Marco Morales, Nancy M. Amato
arXiv preprint arXiv:2505.08025 2025
Selective Coordination
paper
A Framework for Guided Motion Planning
A. Attali, S. Ashur, I. B. Love, C. McBeth, James D. Motes, D. Uwacu, Marco Morales, Nancy M. Amato
arXiv preprint arXiv:2404.03133 2024
Selective Coordination
paper

Workshop papers and extended abstracts

Semi-Lazy Rearrangement Solver for Accelerating Task Planning Using SPITE Dynamic Roadmaps
M. Markowicz, S. Ashur, James D. Motes, Nancy M. Amato
Extended abstract, 4th Workshop on Future of Construction: Safe, Reliable, and Precise Robots in Construction Environments (ICRA 2025), Atlanta, GA, USA, May 19 2025
Accelerated Planning Infrastructure
paper
Distributed Constraint-Based Search Using Multi-Hop Communication
H. Lee, James D. Motes, Z. Serlin, Marco Morales, Nancy M. Amato
Extended abstract, ICRA@40: 40th Anniversary of the IEEE Conference on Robotics and Automation, Rotterdam, The Netherlands, September 23–26 2024
Selective Coordination
paper
Ergonomic Motion Planning for Human-Robot Collaboration
I. Ngui, James D. Motes, H. Lee, Marco Morales, Nancy M. Amato
Extended abstract, ICRA@40: 40th Anniversary of the IEEE Conference on Robotics and Automation, Rotterdam, The Netherlands, September 23–26 2024
Interactive Planning
Encoding Reusable Multi-Robot Planning Strategies as Abstract Hypergraphs
K. Elimelech*, James D. Motes*, Marco Morales, Nancy M. Amato, M. Vardi, L. E. Kavraki
Extended abstract, ICRA@40: 40th Anniversary of the IEEE Conference on Robotics and Automation, Rotterdam, The Netherlands, September 23–26 2024
* Equal contribution.
Selective Coordination Learning-Guided Coordination
paper
Lazy-DaSH: Lazy Approach for Hypergraph-based Multi-Robot Task and Motion Planning
S. Lee, James D. Motes, I. Ngui, Marco Morales, Nancy M. Amato
Extended abstract, ICRA@40: 40th Anniversary of the IEEE Conference on Robotics and Automation, Rotterdam, The Netherlands, September 23–26 2024
Selective Coordination
paper
SPITE: Simple Polyhedral Intersection Techniques for Modified Environments
M. Lusardi*, M. Markowicz*, S. Ashur, James D. Motes, Marco Morales, S. Har-Peled, Nancy M. Amato
Extended abstract, ICRA@40: 40th Anniversary of the IEEE Conference on Robotics and Automation, Rotterdam, The Netherlands, September 23–26 2024
* Equal contribution.
Accelerated Planning Infrastructure
A Hierarchical Approach to Workstation-based Task-Allocation and Motion Planning
I. Ngui, S. Lee, James D. Motes, Marco Morales, Nancy M. Amato
Extended abstract, RAFF2023: Robotics & AI in Future Factory (IROS 2023 Workshop), Detroit, MI, USA, October 1–5 2023
Selective Coordination
paper
Evaluating Guiding Spaces for Motion Planning
A. Attali, S. Ashur, I. B. Love, C. McBeth, James D. Motes, D. Uwacu, Marco Morales, Nancy M. Amato
Extended abstract, Evaluating Motion Planning Performance, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2022), Kyoto, Japan, October 23 2022
Selective Coordination
paper
Insights from an Industrial Collaborative Assembly Project: Lessons in Research and Collaboration
T. Chen, Z. Huang, James D. Motes, J. Geng, Q. Ta, H. Dinkel, H. Abdul-Rashid, J. Myers, Y. Mun, W. Lin, Y. Huang, S. Liu, Marco Morales, Nancy M. Amato, K. Driggs-Campbell, T. Bretl
IEEE ICRA Workshop on Collaborative Robots and the Work of the Future, Philadelphia, USA 2022
Interactive Planning
paper