It has been vigorously developed upon, lots of changes to make it more performant and you can catch the highlights of all this action on Andy Wingo's blog http://wingolog.org/tags/guile
I like his rundown of different Scheme implementations http://wingolog.org/archives/2013/01/07/an-opinionated-guide... including the comments that readers left there.
Another neat scheme for games that I am aware of is ypsilon http://code.google.com/p/ypsilon/ one driving motivation for it was to keep GC pauses small, pretty important for games. I believe it has an incremental GC, not a fully concurrent one.
> The requirements included "Windows (compiled with MSCV) and iOS." Guile can do that?
Yep! with MinGW on Windows. IIRC they distribute such a prepackaged bundle. Will probably work with cygwin dlls too. Dont know about GUI inter-op, but Guile would build with Xcode
@xpolitix Good point about the need to link statically on iOS, had not thought about that one.