Fixed priority pre-emptive scheduling: an historical perspective
Real-Time Systems - Special issue: history of real-time systems
Scheduling Algorithms for Multiprogramming in a Hard-Real-Time Environment
Journal of the ACM (JACM)
The design and implementation of the open Ravenscar kernel
IRTAW '00 Proceedings of the 10th international workshop on Real-time Ada workshop
Engineering and Analysis of Fixed Priority Schedulers
IEEE Transactions on Software Engineering
Effective Analysis for Engineering Real-Time Fixed Priority Schedulers
IEEE Transactions on Software Engineering
Michael González Harbour: MaRTE OS: An Ada Kernel for Real-Time Embedded Applications
Ada Europe '01 Proceedings of the 6th Ade-Europe International Conference Leuven on Reliable Software Technologies
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Fixed-priority schedulers received a lot of attention from the real-time community, and a big effort has been performed to develop accurate and more general schedulability analysis that can ensure the correct execution of the system. Nevertheless, only few works analysed the overhead and blocking intervals introduced by the scheduler and the associated kernel routines, modifying the schedulability tests to take into account these overheads. However, all these works assume a very simple scheduler that uses trivial data structures to stores the tasks information. This work analyses data structures used in several open real-time kernels that supports Ada language. Additionally, a new data structure, the Cartesian trees, is proposed. As a conclusion, the preliminary studies show that alternative data structures, as proposed Cartesian trees, can improve the scalability of the system strongly reducing the scheduling overheads.