Allocating hard real-time tasks: an NP-hard problem made easy
Real-Time Systems
Allocation and Scheduling of Precedence-Related Periodic Tasks
IEEE Transactions on Parallel and Distributed Systems
Assignment and Scheduling Communicating Periodic Tasks in Distributed Real-Time Systems
IEEE Transactions on Software Engineering
Scheduling Algorithms for Multiprogramming in a Hard-Real-Time Environment
Journal of the ACM (JACM)
`` Strong '' NP-Completeness Results: Motivation, Examples, and Implications
Journal of the ACM (JACM)
Period-Based Load Partitioning and Assignment for Large Real-Time Applications
IEEE Transactions on Computers
Scheduling periodic tasks on uniform multiprocessors
Information Processing Letters
Deadline-based scheduling of periodic task systems on multiprocessors
Information Processing Letters
Guaranteeing Real-Time Requirements With Resource-Based Calibration of Periodic Processes
IEEE Transactions on Software Engineering
On task schedulability in real-time control systems
RTSS '96 Proceedings of the 17th IEEE Real-Time Systems Symposium
Task Period Selection and Schedulability in Real-Time Systems
RTSS '98 Proceedings of the IEEE Real-Time Systems Symposium
Schedulability Analysis for Tasks with Static and Dynamic Offsets
RTSS '98 Proceedings of the IEEE Real-Time Systems Symposium
Exploiting Precedence Relations in the Schedulability Analysis of Distributed Real-Time Systems
RTSS '99 Proceedings of the 20th IEEE Real-Time Systems Symposium
Resource Conscious Design of Distributed Real-Time Systems: An End-to-End Approach
ICECCS '96 Proceedings of the 2nd IEEE International Conference on Engineering of Complex Computer Systems
Priority-Driven Scheduling of Periodic Task Systems on Multiprocessors
Real-Time Systems
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
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Coordinated behavior of mobile robots is an important emerging application area. Different coordinated behaviors can be achieved by assigning sets of control tasks, or strategies, to robots in a team. These control tasks must be scheduled either locally on the robot or distributed across the team. An application may have many control strategies to dynamically choose from, although some may not be feasible, given limited resource and time availability. Thus, dynamic feasibility checking becomes important as the coordination between robots and the tasks that need to be performed evolves with time. This paper presents an on-line algorithm for finding a feasible strategy given a functionally equivalent set of strategies for achieving an application's goals. We present two algorithms for feasibility improvement. Both consider communication cost and utilization bound to make resource allocation and scheduling decisions. Extensive experimental results show the effectiveness of the approaches, especially in resource-tight environments. We also demonstrate the application of our approach to real world scenarios involving teams of robots and show how feasibility analysis also allows the prediction of the scalability of the solution to large robot teams.