Earlier quoted context omitted.
That's why Lisp was called 'AI assembler'. Literally hundreds of higher-level languages have been implemented on top of Lisp. One of those has been integrated into Common Lisp: CLOS, a high-level object-oriented language for programming dynamic systems, with meta-programming capabilities.
Most of these "high-level" languages are more of "extensions" (CLOS certainly feels like an extension) or alternative lispish languages than bona fide DSLs with DS constraints (that can be used for DS optimizations). The S-expression syntax feels foreign/messy in many domains.
Examples for "high-level" languages on top of Lisp:
Macsyma, Axiom, Refine, AP5, RacerPro, CycL, NESL, Reduce, PVS, the original ML, ...
For a Lisp-like example see PDDL (Planning Domain Definition Language):
(define (domain hanoi-domain)
(:requirements :equality)
(:predicates (disk ?x) (smaller ?x ?y) (on ?x ?y) (clear ?x))
(:action move-disk
:parameters (?disk ?below-disk ?new-below-disk)
:precondition (and (disk ?disk)
(smaller ?disk ?new-below-disk)
(not (= ?new-below-disk ?below-disk))
(not (= ?new-below-disk ?disk))
(not (= ?below-disk ?disk))
(on ?disk ?below-disk)
(clear ?disk)
(clear ?new-below-disk))
:effect (and (clear ?below-disk)
(on ?disk ?new-below-disk)
(not (on ?disk ?below-disk))
(not (clear ?new-below-disk)))))
Tools like these are widely used in logistics domains, one of the domains where Lisp has been widely used. There is a competition between planning systems and PDDL is being used to describe the problems.For a non-s-expression domain specific language on top of Lisp see for example PWGL. It uses a graphical language. Also Macsyma/Maxima, and many many many others.