In the previous work, it was demonstrated that one can effectively employ CTRNN-EH (a neuromorphic variant of EH method)\r\nmethodology to evolve neuromorphic flight controllers for a flapping wing robot. This paper describes a novel frequency groupingbased\r\nanalysis technique, developed to qualitatively decompose the evolved controllers into explainable functional control blocks.\r\nA summary of the previous work related to evolving flight controllers for two categories of the controller types, called autonomous\r\nand nonautonomous controllers, is provided, and the applicability of the newly developed decomposition analysis for both\r\ncontroller categories is demonstrated. Further, the paper concludes with appropriate discussion of ongoing work and implications\r\nfor possible future work related to employing the CTRNN-EH methodology and the decomposition analysis techniques presented\r\nin this paper.
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