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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 http://lemonodor.com/archives/2004/08/l_mars_venus.html

They had L, their Lisp dialect, and Mars, the macro layer for doing robotics in L.

The paper "L - A Common Lisp for Embedded Systems" is available at http://www.cs.cmu.edu/~chuck/pubpg/luv95.pdf

The last I heard Rod Brooks said all the pacbots software was written in Lisp.

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