Are the drivers on the Ushers high excursion? Does high excursion factor in with impedance dips? It would seem they would be somehow related?

Sorry, I just never addressed this before.
So long as the Ushers don't go much lower than their average impedance rating the RX-V661 should do fine for all but the largest of rooms. Of course speakers that size aren't intended to fill large rooms with sound anyway.
In the event that the receiver is running out of steam, which I doubt it would ever become a problem, you could always add some amplification.