IMHO, it's hard to say what is the natural successor to Prolog. For all that it shares with Lisp, it definitely has never shared even a fraction of the popularity. They have two entirely different approaches and purposes though, so this isn't terribly surprising. Even if someone does create a new Prolog ala Clojure, it would probably still remain in academia.
I think a better question to ask is what direction is declarative programming headed in? Prolog is just one language in this field, as are some of the Prolog-alternatives listed by the OP. Remembering that SQL is also a declarative programming language, I believe that declarative languages are far from dead; it's a common paradigm, just not one we hear a lot of buzz about.
So all this said, it may be that Prolog doesn't necessarily need a successor. It does it's job well, but logic-based declarative languages are inherently too specialized to expect anything causing a surge of popularity.
One interesting variant of declarative programming is called Answer Set Programming. (http://en.wikipedia.org/wiki/Answer_set_programming). It's particularly good at modeling and solving NP-hard search problems, usually has Prolog-esque syntax, but does well on programs where Prolog would infinite loop (e.g. p :- not q. q :- not p.). As a disclaimer, I'm just beginning research in ASP. :)