Actually have one more question if you don't mind - I've done a fair amount of both lisp and embedded (vxworks or baremetal). I've been tempted to push lisp or scheme as a prototyping environment for higher level (i.e., UI or some other non-RT) code. I've always had some amount trepidation due to GC pauses, and memory exhaustion.
Are there any papers on the actual lisp ports? Are there any gotchas?