Step 1: Note what TARA is.
TARA is described as India's first indigenous glide weapon, a defense technology milestone.
Step 2: Eliminate the other pairings.
ISRO with IIT Madras, BDL with ADA, and BEL with DRDO are all real defense collaborations but not the developers credited for TARA.
Step 3: Recall the actual developers.
TARA was designed and developed by DRDO along with its Research Centre Imarat (RCI), strengthening India's indigenous glide weapon capability.
\[ \boxed{\text{DRDO \& Research Centre Imarat (RCI)}} \]