The initial design of what was then called Kangaroo-Dart was developed by the Aeromachnics Branch of the U.S. Navy's Pacific Missile Range. Detailed design was performed by Aerojet;Parsch 2003 however when bids for developing the prototype, given the designation XPWN-9A, were requested, United Technologies Corporation submitted the winning bid and was given a contract for construction of prototypes in November 1969.
