A behavior based controller architecture and the transition to an industry application

While technology transfer has been in the spotlight of late, it is rare to find the necessary combination of a sufficiently mature technology, interested developers, and a commercial need. Even with the above combination, a good plan of action is needed to efficiently effect the transfer. This paper describes a successful technology transfer of the prototype intelligent controller (PIC) architecture from the Applied Research Laboratory (ARL) of the Pennsylvania State University to the Northrop Grumman Corporation/Oceanic and Naval Systems Division and ARL´s role in the development of the Autonomous Sortie Controller (ASC), a behavior based controller for an autonomous underwater vehicle application. This controller was designed, developed, tested, and successfully demonstrated in-water in a 13 month period between March 1998 and April 1999