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Robert was born on August 21, 1947 in Midland, Texas to Pete and Mina Mayes. Robert grew up in Midland, Texas and graduated from Midland HS in 1965. Music played an important part in his life, and he saw great success as a trumpet player in high school and college. He attended Texas Tech University, where he played in the marching band, concert band, and stage band. He was a member of Kappa Kappa Psi fraternity and Phi Mu Alpha Sinfonia. Robert graduated with a Bachelor of Music degree from Tech. He married Diane Lovelace on February 4, 1970 and had one daughter, Maggie.

Robert began his career as an assistant band director at Midland Lee High School, where he taught for three years. In June of 1972, his daughter Maggie was born in Midland. In 1974, the Mayes family moved back to Lubbock when Dean Killian, the director of bands at Texas Tech University, created the new position of assistant band director. Robert completed his Master’s degree in Music Education and served as Texas Tech Assistant Band Director for six years.
In 1980, Robert was hired to be the band director at the University of Wyoming by Dr. David Tomatz, the head of the music department. He spent four years in Laramie directing the marching band and the basketball pep band, which took him on many travels throughout Utah, California, Colorado, and Nevada. He also earned tenure while teaching at the University of Wyoming.

In 1984, Dr. Tomatz was hired as the head of the University of Houston School of Music, bringing the Mayes family to Houston. Robert and his family moved to Humble, Texas in the summer of 1984. Robert directed the University of Houston Marching Band and the Cougar Brass for the next 16 years.
During his career, Robert was a great ambassador for Texas band programs throughout the United States and in numerous foreign countries. Under his direction, the band performed in Texas, California, Mexico, and Hawaii. They took their talent overseas to entertain the people of Japan, France, and Ireland. The band marched in parades in Houston, Galveston, and Dublin. Robert took his students on many adventures and radiated Cougar pride wherever he went.
Throughout his career, Robert worked with the Bands of America program. He spent years judging high school marching band contests and passing on his expertise to young musicians across the country. He also had the privilege of directing the halftime shows for the Alamo Bowl in San Antonio.

In 2000, Robert was reassigned to the University of Houston School of Music Education, where he trained students to be band directors and music teachers. Robert received many accolades throughout his career, but he most cared about the impact he had on his students, the majority of which were prospective band directors. His sense of humor and obvious interest in his students made him beloved by those he taught. He especially enjoyed overseeing student teachers in the music education department. His students, indeed, were his career! To quote a former student, “he was active in our education for sure, but maybe more importantly, he guided me and my music friends through our college careers outside of the classroom, helping us all make wiser decisions and become productive young adults.”

He was in demand as a highly respected clinician and adjudicator across Texas as well as many other states. Robert's 41-year career consisted of directing bands for 25 years and then another 16 years of preparing students to become band directors. He retired in 2016.

Robert loved his family, his students, his friends, and his universities. He took pride in being a musician and he instilled pride in those who were lucky enough to experience his teachings. Former students often comment on his passion, enthusiasm, and sense of humor, and called him “coach”. They also talk about the impact he had on their lives. Though he is gone, his legacy will not be forgotten.