Asteroids that burned up in the atmosphere include asteroid 2014 AA and 2008 TC3. Both asteroids were spotted by telescope as they entered Earth's atmosphere, but never actually struck the surface.
Asteroid 2014 AA was only a few meters long and was discovered by Arizona astronomers at Mount Lemmon prior to entering the Earth's atmosphere. The asteroid burnt up upon entering the Earth's atmosphere near the Atlantic Ocean and Africa.
Asteroid 2008 TC3, which also burnt up over Africa, was about the size of a boulder. Asteroid 2008 TC3 was the first time an asteroid was found and predicted to enter the Earth's atmosphere. This asteroid was also discovered by Arizona astronomers at Mount Lemmon.