You answered your own question. (pssst: it is Maybe.)
These type of charts are all over the Internet,
I do not know what 'more than a few minutes means, but you must calculate your "power budget" which essentially means powering the Nano is about 9mA with the LED off and no external components.
3x motors are between 10mA and 35mA each. Conservatively, at lower range, you can expect 9+10+10+10 = 39mA== 40mA. The best you can expect is:
battery mAh / 40 == hours of usage (best case.)
For common cells, your continuous battery spec is under your max need.