After more than 15 years of development and incredible sales ;-) , I decided to put my version of PRS in the public domain and in Open Source. Hence the new name Open PRS. It is part of the LAAS Open Software for Autonomous Systems project. Open PRS is a C version of PRS, based on formerly C-PRS and Propice. It is available as a source package, or in binaries for some platforms. Feel free to use it under the BSD style LICENCE agreement (basically, do whatever you want with it, just retain the original copyright).
Moreover, Open PRS can be used to control a set of functional modules built using GenoM. For this, you will need to use the tool TransGen. If you are interested in this, you should look at GenoM3 and the associated template for OpenPRS. For more details, visit the site mentioned above, or contact me.