{"id":160,"date":"2020-01-21T00:43:41","date_gmt":"2020-01-21T00:43:41","guid":{"rendered":"https:\/\/depts.washington.edu\/airlab\/wordpress\/?page_id=160"},"modified":"2025-07-17T16:23:42","modified_gmt":"2025-07-17T16:23:42","slug":"publications","status":"publish","type":"page","link":"https:\/\/depts.washington.edu\/airlab\/publications\/","title":{"rendered":"Publications"},"content":{"rendered":"\n<h2>2025<\/h2>\n\n\n\n<ul><li>A Review on Flapping-Wing Robots: Evolution and Challenges. Saeed Rafee Nekoo, Ramy Rashad, Christophe De Wagter, S. B. Fuller, Guido de Croon, Stefano Stramigioli, and Anibal Ollero, <em>IEEE Transactions on Robotics <\/em>(2025)<em>.<\/em> \u00a0<\/li><li>A Lighter Weight and More Power-efficient Avionics System for Flying Insect-scale Robots. Z. Yu, J. Tran, C. Li, A. Weber, Y. Talwekar, and S. B. Fuller. <em>IEEE Int. Conf. Robotics and Automation (ICRA) <\/em>(May 2025). [<a href=\"https:\/\/depts.washington.edu\/airlab\/wordpress\/wp-content\/uploads\/2025\/04\/yu_tran_li_weber_talwekar_fuller_tinysense_icra2025.pdf\">pdf<\/a> | <a href=\"https:\/\/www.me.washington.edu\/news\/article\/2025-07-14\/new-sensor-system-insect-robots\">UW ME News<\/a> ] <span class=\"has-inline-color has-red-color\">Best Student Paper (<a href=\"https:\/\/2025.ieee-icra.org\/program\/awards-and-finalists\/#student\">link<\/a>).<\/span> <\/li><li>Modeling and LQR Control of Insect Sized Flapping-Wing Robot, D. Dhingra, Kadieran Kaheman, and S. B. Fuller, <em>Nature Robotics Portfolio Journal<\/em> (2025)<\/li><\/ul>\n\n\n\n<h2>2024<\/h2>\n\n\n\n<ul><li>Magnetically coupled resonators for wireless power transmission to insect sized flapping wing robots, Johannes M. James, Xingyi Shi, Joshua R. Smith, and Sawyer B. Fuller, <em>Solid-State Sensors, Actuators, and Microsystems Workshop <\/em>(Hilton Head, NC USA, June 2024).<\/li><\/ul>\n\n\n\n<h2>2023<\/h2>\n\n\n\n<ul><li>Solar powered shape-changing origami microflyers, K. Johnson, V. Arroyos, A. Ferran, A. Aliseda, S. B. Fuller, V. Iyer, and S. Gollakota, <em>Science Robotics<\/em> (September 13, 2023). [<a href=\"https:\/\/www.science.org\/doi\/10.1126\/scirobotics.adg4276\" data-type=\"URL\" data-id=\"https:\/\/www.science.org\/doi\/10.1126\/scirobotics.adg4276\">link<\/a> | <a href=\"https:\/\/www.youtube.com\/watch?v=-pE4-DXTsXk&amp;embeds_referring_euri=https%3A%2F%2Fhomes.cs.washington.edu%2F&amp;source_ve_path=Mjg2NjY&amp;feature=emb_logo\">video<\/a> | <a href=\"https:\/\/origamifliers.cs.washington.edu\/\">landing page<\/a>]<\/li><li>Toward sub-gram helicopters: Designing a miniaturized flybar for passive stability, K. Johnson, V. Arroyos, R. Villanueva, A. Schultz, S. B. Fuller, V. Iyer, <em>IEEE Int. Conf. Intelligent Robots and Systems <\/em>(<em>IROS<\/em>) (October 2023). [<a href=\"http:\/\/faculty.washington.edu\/minster\/files\/johnson_arroyos_villanueva_schultz_fuller_iyer_Flybar_iros2023.pdf\" data-type=\"URL\" data-id=\"http:\/\/faculty.washington.edu\/minster\/files\/johnson_arroyos_villanueva_schultz_fuller_iyer_Flybar_iros2023.pdf\">pdf<\/a>]<\/li><\/ul>\n\n\n\n<h2>2022<\/h2>\n\n\n\n<ul><li>A gyroscope-free visual-inertial flight control and wind sensing system for 10 mg robots, S. B. Fuller, Z. Yu, and Y. P. Talwekar, <em>Science Robotics<\/em> (November 23, 2022). [<a href=\"https:\/\/www.science.org\/stoken\/author-tokens\/ST-880\/full\">link<\/a>]<\/li><li>Visual confined-space navigation using an efficient learned bilinear optic flow approximation for insect-scale robots, Z. Yu, Gioele Zardini, Andrea Censi, and S. B. Fuller, <em>IEEE Int. Conf. Intelligent Robots and Systems (IROS)<\/em>, (Kyoto, Japan, October 2022). <\/li><li>Insect-inspired AI for autonomous robots, G.C.H.E. de Croon, J.J.G. Dupeyroux, S.B. Fuller, and J.A.R. Marshall, <em>Science Robotics<\/em> (June 15, 2022). [<a href=\"https:\/\/www.science.org\/doi\/10.1126\/scirobotics.abl6334\">link<\/a>]<\/li><li>Simultaneous source seeking and obstacle avoidance on a palm-sized drone, N. Elkunchwar, V. Iyer, M. Anderson, K. Balasubramanian, J. Noe, and S. B. Fuller, <em>Int. Conf. Unmanned Aircraft Systems (ICUAS) <\/em>(Dubrovnik, Croatia, June 2022).<\/li><li>Towards sensor autonomy in sub-gram flying insect-robots: A lightweight and power-efficient avionics system, Y. P. Talwekar,V. Iyer, and S. B. Fuller, <em>IEEE Int. Conf. Robotics and Automation <\/em>(<em>ICRA<\/em>) (Philadelphia, PA USA, May 2022).  [<a href=\"https:\/\/depts.washington.edu\/airlab\/wordpress\/wp-content\/uploads\/2022\/04\/talwekar_adie_iyer_fuller_sensor_suite_icra2022_compressed.pdf\" data-type=\"URL\" data-id=\"https:\/\/depts.washington.edu\/airlab\/wordpress\/wp-content\/uploads\/2022\/04\/talwekar_adie_iyer_fuller_sensor_suite_icra2022_compressed.pdf\">pdf<\/a>]<\/li><\/ul>\n\n\n\n<h2>2021<\/h2>\n\n\n\n<ul><li>The Python Control Systems Library (python-control), S. B. Fuller, B. Greiner, J. Moore,  R. M. Murray, R. van Paasen, and Rory Yorke, <em>IEEE Conf. Decision and Control (CDC) <\/em>(Austin, Texas, December 2021). [<a rel=\"noreferrer noopener\" href=\"https:\/\/depts.washington.edu\/airlab\/wordpress\/wp-content\/uploads\/2022\/02\/fuller_greiner_moore_murray_vanpaassen_yorke_python_control_cdc21-compressed.pdf\" target=\"_blank\"><strong>pdf<\/strong><\/a>]<\/li><li>Ultra-low power localization of insect-scale drones: Interplay of probabilistic filtering and compute-in-memory, P. Shukla, A. Muralidhar, N. Iliev, T. Tulabandhula, S. B. Fuller, and A. Trivedi, &nbsp;<em>IEEE Transactions on Very Large Scale Integration Systems <\/em>(Aug 2021).<\/li><li>Toward  battery-free  free  flight:  Duty  cycled  recharging  of  small  drones, N. Elkunchwar, S. Chandrasekaran, V. Iyer, and S. B. Fuller, <em>IEEE Int. Conf. Robotics and Intelligent Systems (IROS) <\/em>(Prague, Czech Republic, September 2021). [<a rel=\"noreferrer noopener\" href=\"https:\/\/depts.washington.edu\/airlab\/wordpress\/wp-content\/uploads\/2022\/02\/solar_crazyflie_compressed.pdf\" target=\"_blank\"><strong>pdf<\/strong><\/a>]<\/li><li>A high-voltage power electronics unit for flying insect robots that can modulate wing thrust, J. M. James and S. B. Fuller, <em>IEEE Int. Conf. Robotics and Automation <\/em>(<em>ICRA<\/em>) (Xi\u2019an, China, May 2021).      <\/li><li>RoboFly: An insect-sized robot with simplified fabrication that is capable of flight, ground, and water surface locomotion, Yogesh Chukewad, Johannes James, Avinash Singh, and Sawyer Fuller, <em>IEEE Transactions on Robotics (T-RO)<\/em>, 2021.  [<a href=\"https:\/\/ieeexplore.ieee.org\/document\/9444546\">Link<\/a>] [Arxiv pre-print <a href=\"https:\/\/arxiv.org\/pdf\/2001.02320.pdf\"><strong>pdf<\/strong><\/a>]  <\/li><li>Yaw control of a hovering flapping-wing aerial vehicle with a passive wing hinge, Yogesh Chukewad and Sawyer Fuller,  <em>IEEE Robotics and automation Letters (RA-L)<\/em>, 2021. [<a href=\"https:\/\/depts.washington.edu\/airlab\/wordpress\/wp-content\/uploads\/2021\/02\/09359448.pdf\"><strong>pdf<\/strong><\/a>] [<strong><a href=\"https:\/\/www.youtube.com\/watch?v=ckK-3RTlhgU&amp;feature=youtu.be\">video<\/a><\/strong>]<\/li><\/ul>\n\n\n\n<h2>2020<\/h2>\n\n\n\n<ul><li>A bio-hybrid odor-guided autonomous palm-sized air vehicle, M. J. Anderson, J. G. Sullivan, T. Horiuchi, S. B. Fuller, and T. L. Daniel, <em>Bioinspiration and Biomimetics <\/em>(2020) Vol. 16, No. 2, p. 026002.  <\/li><li>Wireless steerable vision forlive insects and insect-scale robots,  Vikram Iyer, Ali Najafi, Johannes James, Sawyer Fuller, and Shyamnath Gollakota, <em>Science Robotics <\/em>5, eabb0839 2020.  [<a href=\"https:\/\/robotics.sciencemag.org\/content\/robotics\/5\/44\/eabb0839.full.pdf\"><strong>link<\/strong><\/a>] <\/li><li>A laser-microfabricated electrohydrodynamics thruster for centimeter-scale aerial robots, Hari Prasad HK,Vaddi R.S.,Chukewas Y.M., Dedic E, Novosselov I, Fuller S.B., <em>PLoS ONE<\/em> 15(4): e0231362, 2020. [<a href=\"https:\/\/journals.plos.org\/plosone\/article?id=10.1371\/journal.pone.0231362\"><strong>link<\/strong><\/a>]<\/li><li>A Device for Rapid, Automated Trimming of Insect-Sized Flying Robots ., Dhingra, D., Chukewad, Y., and Fuller S. B., <em>IEEE Robotics and automation Letters (RA-L)<\/em>, 2020. [<a rel=\"noreferrer noopener\" aria-label=\" (opens in a new tab)\" href=\"https:\/\/staff.washington.edu\/dd292\/documents\/DhingraDakshRAL2020.pdf\" target=\"_blank\"><strong>pdf<\/strong><\/a>] [<a href=\"https:\/\/youtu.be\/uRBjuoxsqNs\"><strong>video<\/strong><\/a>].<\/li><\/ul>\n\n\n\n<h2>2019<\/h2>\n\n\n\n<ul><li>The &#8220;Smellicopter&#8221;, a bio-hybrid odor localizing nano air vehicle., Anderson, M. J., Sullivan J. G., Talley J. L., Brink K. M., Fuller S. B., and Daniel T. L., <em>IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS)<\/em>, 2019. [<strong><a rel=\"noreferrer noopener\" href=\"https:\/\/depts.washington.edu\/airlab\/files\/anderson_2019.pdf\" target=\"_blank\">pdf<\/a><\/strong>].<\/li><li>Rapid Inertial Reorientation of an Aerial Insect-sized Robot Using a Piezo-actuated Tail.,Singh, A., Libby, T., Fuller, S.B., <em>IEEE International Conference on Robotics and Automation (ICRA)<\/em>, 2019. [<strong><a rel=\"noreferrer noopener\" aria-label=\" (opens in a new tab)\" href=\"https:\/\/depts.washington.edu\/airlab\/files\/singh_ICRA2019.pdf\" target=\"_blank\">pdf<\/a><\/strong>]<\/li><li>Four Wings: An Insect-Sized Aerial Robot With Steering Ability and Payload Capacity for Autonomy.,Fuller, S.B., <em>IEEE Robotics and Automation Letters<\/em>, 4(2), pp.570-577, 2019., [<strong><a rel=\"noreferrer noopener\" href=\"https:\/\/depts.washington.edu\/airlab\/files\/Fuller_RAL2019.pdf\" target=\"_blank\">pdf<\/a><\/strong>] [<a href=\"https:\/\/www.youtube.com\/watch?v=jDjxJ70ljTk\"><strong>video<\/strong><\/a>]<\/li><li>Living IOT: A Flying Wireless Platform on Live Insects.,Iyer, V., Nandakumar R., Wang,A., Fuller, S.B., Gollakota, S., The 25th Annual International Conference on Mobile Computing and Networking (pp. 1-15), October,2019. [<strong><a rel=\"noreferrer noopener\" href=\"https:\/\/livingiot.cs.washington.edu\/files\/livingiot.pdf\" target=\"_blank\">pdf<\/a><\/strong>]<\/li><\/ul>\n\n\n\n<h2>2018<\/h2>\n\n\n\n<ul><li>A new robot fly design that is easier to fabricate and capable of flight and ground locomotion.,Chukewad, Y.M., Singh, A.T., James, J., and Fuller, S.B.  <em>IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS)<\/em>  (pp. 4875-4882).   2018. [<strong><a rel=\"noreferrer noopener\" href=\"https:\/\/depts.washington.edu\/airlab\/files\/Chukewad_IROS2018.pdf\" target=\"_blank\">pdf<\/a><\/strong>] [<a href=\"https:\/\/www.youtube.com\/watch?v=IIvYSdxKEZI\"><strong>video<\/strong><\/a>]<\/li><li>An insect-sized robot that uses a custom-built onboard camera and a neural network to classify and respond to visual input., Balasubramanian, S., Chukewad, Y.M., James, J., Barrows, G.L. and Fuller, S.B., <em>IEEE International Conference on Biomedical Robotics and Biomechatronics (BIOROB)<\/em> (pp. 1297-1302). IEEE . August, 2018.,  [<strong><a rel=\"noreferrer noopener\" href=\"https:\/\/depts.washington.edu\/airlab\/files\/Siva_BIOROB2018.pdf\" target=\"_blank\">pdf<\/a><\/strong>]<\/li><li>&#8220;Liftoff of a 190 mg laser-powered aerial vehicle: The lightest wireless  robot to fly,&#8221; James, J., Iyer, V., Chukewad, Y., Gollakota, S. and  Fuller, S.B., IEEE International Conference on Robotics and Automation  (ICRA) (pp. 1-8). IEEE, 2018.,[<a rel=\"noreferrer noopener\" href=\"https:\/\/depts.washington.edu\/airlab\/files\/James_ICRA2018.pdf\" target=\"_blank\"><strong>pdf<\/strong><\/a>] [<a href=\"https:\/\/www.youtube.com\/watch?v=17ATyC0kf2c\"><strong>video<\/strong><\/a>]<\/li><\/ul>\n\n\n\n<h2>2017<\/h2>\n\n\n\n<ul><li>S. B. Fuller, Z. E. Teoh, P. Chirarattananon, N. O. P\u00e9rez-Arancibia, J. Greenberg, and R. J. Wood. \u201cStabilizing air dampers for hovering aerial robotics: design, insect-scale flight tests, and scaling,\u201d <em>Autonomous Robots <\/em>(2017). <\/li><li> T. S. Clawson, S. B. Fuller, S. Ferrari, \u201cRobust Hovering Control for Flapping Insect-scale Robots,\u201d <em>IEEE Int. Symp. Series Computational Intelligence (SSCI)<\/em> (Honolulu, HI, November 2017). <\/li><li> T. S. Clawson, S. B. Fuller, S. Ferrari, and R. J. Wood, \u201cA blade element approach to modeling aerodynamic flight of an insect-scale robot,\u201d <em>American Control Conference (ACC)<\/em> (Seattle, WA, May 2017). <\/li><li>Y. Chen, S. B. Fuller, and K. Dantu, \u201cQuadrobee: Simulating flapping wing aerial vehicle dynamics on a Quadrotor\u201d, <em>Int. Conf. Intelligent Robots and Systems (IROS) <\/em>(2017)   <\/li><\/ul>\n\n\n\n<h2>2016<\/h2>\n\n\n\n<ul><li>M. A. Graule, P. Chirarattananon, S. B. Fuller, N. T. Jafferis, K. Y. Ma, M. Spenko, R. Kornbluh, and R. J. Wood, \u201cPerching and takeoff of a robotic insect on natural and artificial overhangs using switchable electrostatic adhesion,\u201d <em>Science<\/em> (2016), Vol. 352, No. 6288, pp. 978-982 <\/li><li> T. S. Clawson, S. Ferrari, S. B. Fuller, and R. J. Wood, \u201cSpiking neural network (SNN) control control of a flapping insect-scale robot,\u201d <em>Int. Conf. on Decision and Control (CDC)<\/em> (Las Vegas, NV, December 2016).  <\/li><\/ul>\n\n\n\n<h2>2015 and earlier<\/h2>\n\n\n\n<ul><li>S. B. Fuller, J. P. Whitney, and R. J. Wood, \u201cRotating the heading angle of flapping-wing flyers by wriggle-steering,\u201d <em>IEEE\/RSJ Int. Conf. Intelligent Robots and Systems <\/em>(<em>IROS<\/em>) (2015). <\/li><li>E. F. Helbling, S. B. Fuller, and R. J. Wood, \u201cAltitude Estimation and Control      of an Insect-Scale Robot with an Onboard Proximity Sensor,\u201d <em>Int. Symp. on Robotics Res.<\/em> (<em>ISRR<\/em>) (Sestri Levante, Italy,  September 2015).<\/li><li>D. Miller, I. Fitzner, S. B. Fuller, and S. Revzen, \u201cFocused Modularity: Rapid Iteration      of Design and Fabrication of a Meter-Scale Hexapedal Robot,\u201d <em>Int. Conf. Climbing and Walking Robots<\/em> (<em>CLAWAR<\/em>) (Hangzou, China, September      2015).<\/li><li>S. B. Fuller, A. D. Straw, M. Peek, R. M. Murray, and M. H. Dickinson, \u201cFlying <em>Drosophila<\/em> stabilize their vision-based velocity controller by sensing wind with their antennae,\u201d <em>Proc. Nat. Acad. Sci. <\/em>(2014) Vol. 111., No. 13, pp. E1182-1191. <\/li><li>S. B. Fuller, M. Karpelson, A. Censi, K. Y. Ma, and R. J. Wood, \u201cControlling free flight of a robotic fly using an onboard vision sensor inspired by insect ocelli,\u201d <em>J. Royal Society Interface<\/em> (2014) Vol. 11, No. 97.  <\/li><li>E. F. Helbling, S. B. Fuller, and R. J. Wood, \u201cPitch and yaw control of a robotic insect using an onboard magnetometer,\u201d <em>IEEE Int. Conf. on Robotics and Automation (ICRA) <\/em>(Hong Kong, May 2014).  <\/li><li>S. B. Fuller &amp; E. F. Helbling, P. Chirarattananon, and R. J. Wood, \u201cUsing a MEMS gyroscope to stabilize the attitude of a fly-sized hovering robot,\u201d <em>Int. Conf. Micro Air Vehicles (IMAV) <\/em>(Delft, the Netherlands, August 2014).  <\/li><li>K. Y. Ma, P. Chirarattananon, S. B. Fuller, and R. J. Wood, \u201cControlled flight of a biologically-inspired, insect-scale robot,\u201d <em>Science<\/em> (2013) Vol. 340, No. 6132, pp. 603-607.  <\/li><li>S. B. Fuller, A. Sands, A. Haggerty, M. Karpelson, R. J. Wood, \u201cEstimating attitude and wind velocity using biomimetic sensors on a microrobotic bee,\u201d <em>IEEE Int. Conf. Robotics and Automation (ICRA)<\/em> (Karlsruhe, Germany, May 2013).  <\/li><li>Z. E. Teoh, S. B. Fuller, P. Chirarattananon, N. O. Perez-Arancibia, J. Greenberg, and R. J. Wood, \u201cA Hovering flapping-wing microrobot with altitude control and passive upright stability,\u201d <em>IEEE\/RSJ Int. Conf. Intelligent Robots and Systems (IROS) <\/em>(Algarve, Portugal, October 2012).  <\/li><li>S. B. Fuller and R. M. Murray, \u201cAn insect-inspired autocorrelation model for visual flight control in a corridor,\u201d <em>IEEE Int. Conf. on Robotics and Biomimetics (ROBIO)<\/em> (Phuket, Thailand, December 2011).  <\/li><li> A. Censi, S. Han, S. B. Fuller, and R. Murray, \u201cA bio-plausible method for attitude stabilization,\u201d <em>IEEE Int. Conf. on Decision and Control (CDC) <\/em>(Shanghai, China, January 2010).  <\/li><li> M. Epstein, S. Waydo, S. B. Fuller, A. D. Straw, W. Dickson, M. H. Dickinson, and R. M. Murray, \u201cBiologically inspired feedback for <em>Drosophila<\/em> flight,\u201d <em>American Control Conf. (ACC) <\/em>(New York, NY, June 2007). <\/li><li> N. E. Sanjana and S. B. Fuller, \u201cA Fast flexible ink-jet printing method for patterning dissociated neurons in culture,\u201d <em>J. Neuroscience Methods<\/em> (2004) Vol. 136, pp. 151-163.  <\/li><li>S. B. Fuller, E. J. Wilhelm, and J. M. Jacobson. \u201cInk-jet printed nanoparticle micro-electromechanical systems,\u201d <em>IEEE\/ASME J. Micro-electromechanical Systems<\/em> (2002) Vol. 11, No. 1, pp. 54\u201360.  <\/li><li> S. Schell, A. Tretten, J. Burdick, S. B. Fuller, and P. Fiorini, \u201cHopper on wheels: evolving the hopping robot concept,\u201d <em>IEEE Int. Conf. on Field and Service Robotics (FSR)<\/em> (Helsinki, Finland, June 2001).  <\/li><li>S. B. Fuller and J. M. Jacobson, \u201cInk jet fabricated nanoparticle MEMS,\u201d <em>IEEE Int. Conf. on Microelectromechanical Systems (MEMS)<\/em> (Miyazaki, Japan, January 2000).  <\/li><\/ul>\n","protected":false},"excerpt":{"rendered":"<p>2025 A Review on Flapping-Wing Robots: Evolution and Challenges. Saeed Rafee Nekoo, Ramy Rashad, Christophe De Wagter, S. B. Fuller, Guido de Croon, Stefano Stramigioli, and Anibal Ollero, IEEE Transactions on Robotics (2025). \u00a0 A Lighter Weight and More Power-efficient Avionics System for Flying Insect-scale Robots. Z. Yu, J. Tran, C. Li, A. Weber, Y. [&hellip;]<\/p>\n","protected":false},"author":4,"featured_media":0,"parent":0,"menu_order":0,"comment_status":"closed","ping_status":"closed","template":"","meta":[],"_links":{"self":[{"href":"https:\/\/depts.washington.edu\/airlab\/wp-json\/wp\/v2\/pages\/160"}],"collection":[{"href":"https:\/\/depts.washington.edu\/airlab\/wp-json\/wp\/v2\/pages"}],"about":[{"href":"https:\/\/depts.washington.edu\/airlab\/wp-json\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"https:\/\/depts.washington.edu\/airlab\/wp-json\/wp\/v2\/users\/4"}],"replies":[{"embeddable":true,"href":"https:\/\/depts.washington.edu\/airlab\/wp-json\/wp\/v2\/comments?post=160"}],"version-history":[{"count":89,"href":"https:\/\/depts.washington.edu\/airlab\/wp-json\/wp\/v2\/pages\/160\/revisions"}],"predecessor-version":[{"id":812,"href":"https:\/\/depts.washington.edu\/airlab\/wp-json\/wp\/v2\/pages\/160\/revisions\/812"}],"wp:attachment":[{"href":"https:\/\/depts.washington.edu\/airlab\/wp-json\/wp\/v2\/media?parent=160"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}