In this paper, we present a t wo-phase framework that integrates task assignment, ordering and voltage selection (VS) together to minimize energy consumption of real-time dependent tasks executing on a given number of variable voltage processors. Task assignment and ordering in the rst phase strive to maximize the opportunities that can be exploited for lowering voltage levels during the second phase, i.e., voltage selection. In the second phase, we formulate the VS problem as an Integer Programming (IP) problem and solve the IP e ciently. Experimental results demonstrate that our framewo r k i s v ery e ective in executing tasks at lower voltage levels under di erent system con gurations.

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