Yes, but the language chosen implied to me that it's using a stop-the-world approach. I've confirmed this by looking at the (surprisingly readable and small) c

Yes, but the language chosen implied to me that it's using a stop-the-world approach. I've confirmed this by looking at the (surprisingly readable and small) code: http://www.ulisp.com/list?1BWZ http://www.ulisp.com/list?1BWZ Also, it looks like the algorithm is mostly deterministic, so that's good from a real-time standpoint. And it only runs if memory is about to be exhausted, so if the application ensured that it stayed within the Arduino's memory budget, it's essentially a no-op.