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

Abstract

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.