Closure to "Discussion of 'A Review of Propulsion, Power, and Control Architectures for Insect-Scale Flapping Wing Vehicles'" (Helbling, E. F., and Wood, RJ, 2018, ASME Appl. Mech. Rev., 70(1), p. 010801)

Flying insects are able to navigate complex and highly dynamic environments, can rapidly change their flight speeds and directions, are robust to environmental disturbances, and are capable of long migratory flights. However, flying robots at similar scales have not yet demonstrated these characteristics autonomously. Recent advances in mesoscale manufacturing, novel actuation, control, and custom integrated circuit (IC) design have enabled the design of insect-scale flapping wing micro air vehicles (MAVs). However, there remain numerous constraints to component technologies-for example, scalable high-energy density power storage-that limit their functionality. This paper highlights the recent developments in the design of small-scale flapping wing MAVs, specifically discussing the various power and actuation technologies selected at various vehicle scales as well as the control architecture and avionics onboard the vehicle. We also outline the challenges associated with creating an integrated insect-scale flapping wing MAV.