Implications of classical scheduling results for real-time systems

Stankovic, John A.; Spuri, Marco; Natale, Marco Di; Buttazzo, Giorgio

doi:10.1109/2.386982

Cited by 298 publications

(141 citation statements)

References 18 publications

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“…Earliest Deadline First [29]) algorithms. Tercio schedules through simulation using a dynamic priority method.…”

Section: B Multi-agent Task Sequencer Pseudocodementioning

confidence: 99%

Fast Scheduling of Multi-Robot Teams with Temporospatial Constraints

Gombolay¹,

Wilcox²,

Shah³

2013

Robotics: Science and Systems IX

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Abstract-New uses of robotics in traditionally manual manufacturing processes require the careful choreography of human and robotic agents to support safe and efficient coordinated work. Tasks must be allocated among agents and scheduled to meet temporal deadlines and spatial restrictions on agent proximity. These systems must also be capable of replanning onthe-fly to adapt to disturbances in the schedule and to respond to people working in close physical proximity. In this paper, we present a centralized algorithm, named Tercio, that handles tightly intercoupled temporal and spatial constraints and scales to larger problem sizes than prior art. Our key innovation is a fast, satisficing multi-agent task sequencer that is inspired by real-time processor scheduling techniques but is adapted to leverage hierarchical problem structure. We use this fast task sequencer in conjunction with a MILP solver, and show that we are able to generate near-optimal task assignments and schedules for up to 10 agents and 500 tasks in less than 20 seconds on average. Finally, we demonstrate the algorithm in a multi-robot hardware testbed.

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“…Earliest Deadline First [29]) algorithms. Tercio schedules through simulation using a dynamic priority method.…”

Section: B Multi-agent Task Sequencer Pseudocodementioning

confidence: 99%

Fast Scheduling of Multi-Robot Teams with Temporospatial Constraints

Gombolay¹,

Wilcox²,

Shah³

2013

Robotics: Science and Systems IX

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“…If a lower priority job has access to a resource, a higher priority job requesting the resource is blocked and can miss its deadline. Scheduling in the presence of task synchronization is NP-hard [27]- [29], and sufficient feasibility tests [30], [31] have been studied. Based on these feasibility test, the computation of a constant slowdown is addressed in [32] and [33].…”

Section: Introductionmentioning

confidence: 99%

Energy aware task scheduling with task synchronization for embedded real time systems

Jejurikar

Gupta

2002

Proceedings of the International Conference on Compilers, Architecture, and Synthesis for Embedded Systems - CASES '02

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Abstract-Slowdown factors determine the extent of slowdown that a computing system can experience based on functional and performance requirements. Dynamic voltage scaling (DVS) of a processor based on slowdown factors can lead to considerable energy savings. This paper addresses the problem of DVS in the presence of task synchronization. Tasks synchronize to enforce mutually exclusive access to the shared resources and can be blocked by lower priority tasks. Task slowdown factors that guarantee meeting all task deadlines are computed. Both static and dynamic priority scheduling viz. rate monotonic (RM) scheduling and earliest deadline first (EDF) scheduling, respectively, are studied.

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“…Task scheduling and schedulability analysis have been intensively studied for the past decades, one of the reasons being the high complexity of the targeted problems [Ull75], [Sta94]. The reader is referred to [Aud95] and [Bal98] for surveys on this topic.…”

Section: Scheduling and Schedulability Analysis Of Real-time Systemsmentioning

confidence: 99%