iRobot used to do embedded Lisp (back when they called themselves IS Robotics), but I haven't heard anything indicating that they still are.  See <a href="http://lemonodor.com/archives/2004/08/l_mars_venus.html" rel="nofollow">http://lemonodor.com/archives/2004/08/l_mars_venus.html</a><p>They had L, their Lisp dialect, and Mars, the macro layer for doing robotics in L.<p>The paper "L - A Common Lisp for Embedded Systems" is available at <a href="http://www.cs.cmu.edu/~chuck/pubpg/luv95.pdf" rel="nofollow">http://www.cs.cmu.edu/~chuck/pubpg/luv95.pdf</a>