Static-Priority Scheduling on Multiprocessors
RTSS '01 Proceedings of the 22nd IEEE Real-Time Systems Symposium
On-Line Scheduling on Uniform Multiprocessors
RTSS '01 Proceedings of the 22nd IEEE Real-Time Systems Symposium
Multiprocessor EDF and Deadline Monotonic Schedulability Analysis
RTSS '03 Proceedings of the 24th IEEE International Real-Time Systems Symposium
An Analysis of EDF Schedulability on a Multiprocessor
IEEE Transactions on Parallel and Distributed Systems
The Partitioned Scheduling of Sporadic Tasks According to Static-Priorities
ECRTS '06 Proceedings of the 18th Euromicro Conference on Real-Time Systems
Autonomous driving in urban environments: Boss and the Urban Challenge
Journal of Field Robotics - Special Issue on the 2007 DARPA Urban Challenge, Part I
Validity of the single processor approach to achieving large scale computing capabilities
AFIPS '67 (Spring) Proceedings of the April 18-20, 1967, spring joint computer conference
Schedulability Analysis of Global Scheduling Algorithms on Multiprocessor Platforms
IEEE Transactions on Parallel and Distributed Systems
Gang EDF Scheduling of Parallel Task Systems
RTSS '09 Proceedings of the 2009 30th IEEE Real-Time Systems Symposium
Cyber-physical systems: the next computing revolution
Proceedings of the 47th Design Automation Conference
Scheduling Parallel Real-Time Tasks on Multi-core Processors
RTSS '10 Proceedings of the 2010 31st IEEE Real-Time Systems Symposium
A survey of hard real-time scheduling for multiprocessor systems
ACM Computing Surveys (CSUR)
Multi-core Real-Time Scheduling for Generalized Parallel Task Models
RTSS '11 Proceedings of the 2011 IEEE 32nd Real-Time Systems Symposium
New schedulability tests for real-time task sets scheduled by deadline monotonic on multiprocessors
OPODIS'05 Proceedings of the 9th international conference on Principles of Distributed Systems
Rhythmic Tasks: A New Task Model with Continually Varying Periods for Cyber-Physical Systems
ICCPS '12 Proceedings of the 2012 IEEE/ACM Third International Conference on Cyber-Physical Systems
Techniques Optimizing the Number of Processors to Schedule Multi-threaded Tasks
ECRTS '12 Proceedings of the 2012 24th Euromicro Conference on Real-Time Systems
On-Road motion planning for autonomous vehicles
ICIRA'12 Proceedings of the 5th international conference on Intelligent Robotics and Applications - Volume Part III
SAFER: System-level Architecture for Failure Evasion in Real-time Applications
RTSS '12 Proceedings of the 2012 IEEE 33rd Real-Time Systems Symposium
| Hi-index | 0.00 |
As the complexity of software for Cyber-Physical Systems (CPS) rapidly increases, multi-core processors and parallel programming models such as OpenMP become appealing to CPS developers for guaranteeing timeliness. Hence, a parallel task on multi-core processors is expected to become a vital component in CPS such as a self-driving car, where tasks must be scheduled in real-time. In this paper, we extend the fork-join parallel task model to be scheduled in real-time, where the number of parallel threads can vary depending on the physical attributes of the system. To efficiently schedule the proposed task model, we develop the task stretch transform. Using this transform for global Deadline Monotonic scheduling for fork-join real-time tasks, we achieve a resource augmentation bound of 3.73. In other words, any task set that is feasible on m unit-speed processors can be scheduled by the proposed algorithm on m processors that are 3.73 times faster. The proposed scheme is implemented on Linux/RK as a proof of concept, and ported to Boss, the self-driving vehicle that won the 2007 DARPA Urban Challenge. We evaluate our scheme on Boss by showing its driving quality, i.e., curvature and velocity profiles of the vehicle.