I don't know what the current state of the art is, but at one point the answer to GC in a realtime environment was to amortize free() across malloc(). Each allocation would clear up to 10 elements from queue of free-able memory locations. That gives a reasonably tight upper bound on worst case alloc time, and most workflows converge on a garbage-free heap. Big malloc after small free might still blow your deadlines, but big allocations after bootstrapping are generally frowned upon in realtime applications, so that's as much a social problem as a technical one.