A Scotch Plains man has pleaded guilty to his role in a 2020 armed carjacking in Irvington in which an assault rifle was used, federal prosecutors announced.

Elijah Lott, 28, pleaded guilty June 23 in U.S. District Court to conspiracy to commit carjacking, carjacking and conspiracy to use and carry a firearm during and in relation to a crime of violence, according to the U.S. Attorney’s Office for the District of New Jersey.

Prosecutors said Lott and two accomplices carried out the carjacking Aug. 6, 2020. During the robbery, the accomplices pointed guns, including an assault rifle, at the victims and ordered them out of their vehicle before one of the accomplices drove away in the stolen car.

Lott is scheduled to be sentenced Oct. 21.