Lucimarian Roberts, the 88-year-old mother of "Good Morning America" anchor Robin Roberts, died Thursday, the same day Roberts left early for a medical leave so she could spend time with her mother.

Roberts was with her mother in Mississippi at the time of her passing, ABC News [5] said. Roberts was scheduled to begin medical leave for a bone marrow transplant Friday, but left a day early because her mother was ailing.

Also read: Robin Roberts Moves Up 'GMA' Last Day Before Medical Leave [6]

"It is with deep regret and heavy prayer and reflection tonight that I write to tell you of the passing of Robin's beautiful and inspiring mother, Lucimarian," Tom Cibrowski, executive producer of "GMA," wrote in an email early Friday morning to ABC staff.

Roberts planned to check into a hospital Tuesday to prepare for a bone marrow transplant for the blood and bone disease MDS. The 51-year-old, who beat breast cancer five years ago, announced her MDS diagnosis in June.

Roberts traveled to the family's home in Mississippi, which had been in the path of Tropical Storm Isaac, with her sister Sally-Ann Roberts, ABC News said.

Lucimarian Tolliver Roberts was the first African-American to head Mississippi's board of education. A lover of music and poetry, she authored a book this year called "My Story, My Song," a collaboration with Robin Roberts.