If you link to GPL libraries you must abide by the terms of the GPL. The same applies to using the kernel header files. Or at least Torvalds believes this to be the case, as do the IP lawyers quoted[1]. Quote from Linus:
"In short: you do _NOT_ have the right to use a kernel header file (or any other part of the kernel sources), unless that use results in a GPL'd program."
"So you can run the kernel and create non-GPL'd programs […] BUT YOU CAN NOT USE THE KERNEL HEADER FILES TO CREATE NON-GPL'D BINARIES. Comprende?"
The solution seems to be to re-licence Bionic under the LGPL, which is what the C libraries of every other linux based OS do. Although that does seem to suggest that one can always work around the GPL linking restriction by creating an intermediate LGPL library, but I'm no lawyer so maybe there is some reason that is not allowed.
[1] http://www.brownrudnick.com/nr/pdf/alerts/Brown%20Rudnick%20...