The module Bigelow put up was based on NASA research on composite materials with the aim of building modules like the one up there now. They abandoned the program but let Bigelow have access to all their research and patents and even consulted with Bigelow on the project. The lead engineer at Bigelow ran the NASA program until they cancelled it then he went with Bigelow. The major advantage Bigelow has over NASA is the ability to control costs and cut the red tape.
The original module has performed so well that Bigelow announced there will be a major course correction in the program early next year. They had planned to launch several of these small test articles but I'm betting he's going to announce they will move on to the next stage and cancel the intervening tests.
Interesting...Private enterprise can do it cheaper!