- Lui Sha1,
- Tarek Abdelzaher2,
- Karl-Erik årzén3,
- Anton Cervin3,
- Theodore Baker4,
- Alan Burns5,
- Giorgio Buttazzo6,
- Marco Caccamo1,
- John Lehoczky7 &
- …
- Aloysius K. Mok8
3034Accesses
4Altmetric
Abstract
In this 25th year anniversary paper for the IEEE Real Time Systems Symposium, we review the key results in real-time scheduling theory and the historical events that led to the establishment of the current real-time computing infrastructure. We conclude this paper by looking at the challenges ahead of us.
This is a preview of subscription content,log in via an institution to check access.
Access this article
Subscribe and save
- Get 10 units per month
- Download Article/Chapter or eBook
- 1 Unit = 1 Article or 1 Chapter
- Cancel anytime
Buy Now
Price includes VAT (Japan)
Instant access to the full article PDF.
Similar content being viewed by others
Explore related subjects
Discover the latest articles and news from researchers in related subjects, suggested using machine learning.References
Abdelzaher, T., Sharma, V., and Lu, C. 2004. A utilization bound for aperiodic tasks and priority driven scheduling.IEEE Transaction on Computers 53(3): 334–350.
Abdelzaher, T., Thaker, G., and Lardieri, P. 2004. A feasible region for meeting aperiodic end-to-end deadlines in resource pipelines. InIEEE International Conference on Distributed Computing Systems. Tokyo, Japan.
Abeni, L., and Buttazzo, G. 1998. Integrating multimedia applications in hard real-time systems. InProceedings of the 19th IEEE Real-Time Systems Symposium. Madrid, Spain.
Abeni, L., and Buttazzo, G. 2001. Hierarchical QoS management for time sensitive applications. InProceedings of the IEEE Real-Time Technology and Applications Symposium. Taipei, Taiwan.
Abeni, L., and Buttazzo, G. 2004. Resource reservations in dynamic real-time systems.Real-Time Systems 27(2): 123–165.
Aggarwal, S., and Chraibi, C. 1993. On the scheduling of hyperperiodic tasks. InProceedings of the 5th Euro-Micro Workshop on Real-Time Systems. Oulu, Finland, IEEE Computer Society, pp. 112–117.
Aggarwal, S., and Chraibi, C. 1995. Scheduling of hyperperiodic tasks in a multiprocessor environment. InProceedings of the 2nd ISSAT Conference on Reliability and Quality in Design. Orlando, FL, USA.
Aggarwal, S., and Chraibi, C. 1996. On the combined scheduling of hyperperiodic, periodic, and aperiodic tasks. InProceedings of the 1st Conference on Performability in Computing Systems.
Amirijoo, M., Hansson, J., and Son, S. H. 2003. Specification and management of QoS in imprecise real-time databases. InProceedings of the International Database Engineering and Applications Symposium, pp. 192–201.
Anderson, J., Block, A., and Srinivasan, A. 2003. Quick-release fair scheduling. InProceedings of the 24th IEEE Real-Time Systems Symposium. IEEE, pp. 130–141.
Anderson, J. H., Ramamurthy, S., and Jeffay, K. 1995. Real-time computing with lock-free shared objects. InProceedings of the 16th IEEE Real-Time Systems Symposium. pp. 28–37.
Andersson, B., Baruah, S., and Jonsson, J. 2001. Static-priority scheduling on multiprocessors. InProceedings of the 22nd IEEE Real-Time Systems Symposium. London, UK, pp. 193–202.
Årzén, K. E., Cervin, A., Eker, J., and Sha, L. 2000. An introduction to control and real-time sceduling co-design. InConference on Decision and Control. Sydney, Australia, pp. 4865–4870.
Atlas, A. K., and Bestavros, A. 1998a. Statistical rate monotonic scheduling. InProceedings of the 19th IEEE Real-Time Systems Symposium. pp. 123–132.
Atlas, A. K., and Bestavros, A. 1998b. Statistical rate monotonic scheduling. Technical Report BUCS-TR-98-010, Boston University.
Audsley, N. C. 1994. Flexible scheduling for hard real-time systems. D.Phil Thesis, Department of Computer Science, University of York.
Audsley, N. C., Burns, A., Davis, R., Tindell, K., and Wellings, A. J. 1995. Fixed priority preemptive scheduling: an historical perspective.Real Time Systems 8(3): 173–198.
Audsley, N. C., Burns, A., Richardson, M., and Wellings, A. J. 1991. Hard real-time scheduling: the deadline monotonic approach. InProceedings of the 8th IEEE Workshop on Real-Time Operating Systems and Software. Atlanta, GA, USA, pp. 127–132.
Audsley, N. C., Burns, A., Richardson, M. F., and Wellings, A. J. 1992. Deadline monotonic scheduling theory. InProceeding of IFAC/IFIP Workshop on Real-Time Programming. Bruges, Belgium, pp. 55–60.
Audsley, N. C., Burns, A., Richardson, M. F., and Wellings, A. J. 1993a. Incorporating unbounded algorithms into predictable real-time systems.Computer Systems Science and Engineering 8(2): 80–89.
Audsley, N. C., Burns, A., and Wellings, A. J. 1993b. Deadline monotonic scheduling theory and application.Control Engineering Practice 1(1): 71–78.
Audsley, N. C., Davis, R. I., and Burns, A. 1994. Mechanisms for enhancing the flexibility and utility of hard real-time systems. InProceedings of the 15th IEEE Real-Time Systems Symposium, pp. 12–21.
Audsley, N. C., Tindell, K., and Burns, A. 1993. The end of the road for static cyclic scheduling. InProceedings of the 5th Euromicro Workshop on Real-Time Systems. Oulu, Finland, pp. 36–41.
Aydin, H., Melhem, R., Moss, D., and Alvarez, P. M. 2001. Optimal reward-based scheduling for periodic real-time tasks.IEEE Transactions on Computers 50(2): 111–130.
Baker, T. P. 1991. Stack-based scheduling of real-time processes.Real-Time Systems 3(1): 67–100.
Baker, T. P. 2003. Multiprocessor EDF and deadline monotonic schedulability analysis. InProceedings of the 24th IEEE Real-Time Systems Symposium, pp. 120–129.
Baker, T. P., and Pazy, O. 1991. Real-time features for Ada 9X. InProceedings of the 12th IEEE Real-Time Systems Symposium, pp. 172–180.
Balbastre, P. Ripoll, I., and Crespo, A. 2000. Control task delay reduction under static and dynamic scheduling policies. InProceedings of the 7th International Conference on Real-Time Computing Systems and Applications, p. 522.
Ball, J. A., Day, M. V., and Kachroo, P. 1999. Robust feedback control of a single server queueing system.Mathematics of Control Signals and Systems 12(4): 307–345.
Baruah, S. 2003. Dynamic-and static-priority scheduling of recurring real-time tasks.Real-Time Systems 24(1): 99–128.
Baruah, S., and Goossens, J. 2003. Rate-monotonic scheduling on uniform multiprocessors.IEEE Transactions on Computers 52(7): 966–970.
Baruah, S. K., Cohen, N., Plaxton, C. G., and Varvel, D. 1993. Proportionate progress: a notion of fairness in resource allocation. InProceedings of the ACM Symposium on the Theory of Computing, pp. 345–354.
Baruah, S. K., Howell, R. R., and Rosier, L. E. 1990a. Algorithms and complexity concerning the preemptive scheduling of periodic real-time tasks on one processor.Real-Time Systems 2: 173–179.
Baruah, S. K., Mok, A. K., and Rosier, L. E. 1990b. Preemptively scheduling hard-real-time sporadic tasks on one processor.Proceedings of the 11th IEE Real-Time Systems Symposium, pp. 182–190.
Bate, I. J., and Burns, A. 1997. Schedulability analysis of fixed priority real-time systems with offsets. InProceedings of the 9th Euromicro Workshop on Real-Time Systems, pp. 153–160.
Bate, I. J., and Burns, A. 1998. Investigating the pessimism in distributed systems timing analysis. InProceedings of the 10th Euromicro Workshop on Real-Time Systems, pp. 107–114.
Bernat, G., and Burns, A. 1997. Combining (n, m)-hard deadlines with dual priority scheduling. InProceedings of the 18th IEEE Real-Time Systems Symposium, pp. 46–57.
Bernat, G., and Burns, A. 1999. New results on fixed priority aperiodic servers. InProceedings of the 20th IEEE Real-Time Systems Symposium, pp. 68–78.
Bernat, G., and Cayssials, R. 2001. Guaranteed on-line weakly-hard real-time systems. InProceedings of the 22nd IEEE Real-Time Systems Symposium, pp. 25–35.
Bini, E., and Buttazzo, G. C., 2002. The space of rate montonic schedulability. InProceedings of the 23rd IEEE Real-Time Systems Symposium, pp. 169–178.
Bini, E., Buttazzo, G. C., and Giuseppe, M. 2003. Rate monotonic scheduling: the hyperbolic bound.IEEE Transactions on Computers 52(7): 933–942.
Broster, I., Burns, A. and Rodríguez-Navas, G. 2002. Probabilistic analysis of CAN with faults. InProceedings of the 23rd Real-Time Systems Symposium, pp. 269–278.
Burchard, A., Liebeherr, J., Og, Y., and Son, S. H. 1995. New strategies for assigning real-time tasks to multiprocessor systems.IEEE Transactions on Computers 44(12): 1429–1442.
Burns, A., and Wellings, A. J. 1990.Real-Time Systems and Programming Languages,1st Edition. Reading, MA: Addison-Wesley.
Burns, A., and Wellings, A. J. 1993. Dual priority assignment: a practical method of increasing processor utilization. InProceedings of the Fifth Euromicro Workshop on Real-Time Systems. Oulu, Finland, IEEE Computer Society, pp. 48–53.
Buttazzo, G., and Abeni, L. 2002a. Adaptive workload management through elastic scheduling.Real-Time Systems 23(1–2): 7–24.
Buttazzo, G., and Abeni, L. 2002b. Smooth rate adaptation through impedance control. InIEEE Proceedings of the 14th Euromicro Conference on Real-Time Systems. Vienna, Austria, pp. 3–10.
Buttazzo, G., Lipari, G., Caccamo, M., and Abeni, L. 2002. Elastic scheduling for flexible workload management.IEEE Transactions on Computers 51(3): 289–302.
Buttazzo, G., and Sensini, F. 1999. Optimal deadline assignment for scheduling soft aperiodic tasks in hard real-time environments.IEEE Transactions on Computers 48(10): 1035–1052.
Caccamo, M., and Buttazzo, G. 1997. Exploiting skips in periodic tasks for enhancing aperiodic re-sponsiveness. InProceedings of the IEEE 18th Real-Time Systems Symposium. San Francisco, pp. 330–339.
Caccamo, M., Buttazzo, G., and Sha, L. 2000. Capacity sharing for overrun control. InProceedings of the 21st IEEE Real-Time Systems Symposium. Orlando, FL, USA, December 2000, pp. 295–304.
Caccamo, M., and Sha, L. 2001. Aperiodic servers with resource constraints. InProceedings of the 22nd IEEE Real-Time Systems Symposium. London, UK, pp. 161–170.
Cervin, A. 1999. Improved scheduling of control tasks. InProceedings of the 11th Euromicro Conference on Real-Time Systems. York, UK, pp. 4–10.
Cervin, A., and Eker, J. 2003. The Control Server: A computational model for real-time control tasks. InProceedings of the 15th Euromicro Conference on Real-Time Systems. Porto, Portugal, pp. 113–120.
Cervin, A., Eker, J., Bernhardsson, B., and Årzén, K. E. 2002. Feedback-feedforward scheduling of control tasks.Real-Time Systems 23(1): 25–53.
Chandra, A., Adler, M., and Shenoy, P. 2001. Deadline fair scheduling: Bridging the theory and practice of proportionate-fair scheduling in multiprocessor servers. InProceedings of the IEEE Real-Time Technology and Applications Symposium. IEEE, pp. 3–14.
Chandra, R., Liu, X., and Sha, L. 2003. On the scheduling of flexible and reliable real-time control systems.Real-Time Systems 24(2): 153–169.
Chandra, R., and Sha, L. 1999. On scheduling tasks in reliable real-time control systems. InProceedings of the 20th IEEE Real-Time Systems Symposium, pp. 164–175.
Chen, D., and Mok, A. K. 2004. The pinwheel: A real-time scheduling problem.Handbook of Scheduling Algorithms, Models and Performance Analysis.
Chen, M., and Lin, K. 1990. Dynamic priority ceilings: A concurrency control protocol for real-time systems.Real-Time Systems 2.
Davis, R. I., Tindell, K., and Burns, A. 1993. Scheduling slack time in fixed priority preemptive systems. InProceedings of the 14th IEEE Real-Time Systems Symposium, pp. 222–231.
Davis, R. I., and Wellings, A. J. 1995. Dual priority scheduling. InProceedings of the 16th IEEE Real-Time Systems Symposium, pp. 100–109.
Deng, Z., and Liu, J. 1997. Scheduling real-time applications in an open environment. InProceedings of the 18th IEEE Real-Time Systems Symposium, pp. 308–319.
Dertouzos, M. L. 1974. Control robotics: The procedural control of physical processes.Information Processing, p. 74.
Dertouzos, M. L., and Mok, A. K. 1989. Multiprocessor on-line scheduling of hard real-time tasks.IEEE Transactions on Software Engineering 15(12): 1497–1506.
Dhall, S. K., and Liu, C. L. 1978. On a real-time scheduling problem.Operations Research 26(1): 127–140.
Diao, Y., Gandhi, N., Hellerstein, J. L., Parekh, S., and Tilbury, D. M. 2002. MIMO control of an apache Web server: modeling and controller design. InAmerican Control Conference. Anchorage, Alaska.
Diao, Y., Hellerstein, J. L., Parekh, S., and Bigus, J. P. 2003. Managing Web server performance with autotune agents.IBM Systems Journal 42(1): 136–149.
Doyle, L., and Elzey, J. 1994. Successful use of rate monotonic theory on a formidable real time system. InProceedings of the 11th IEEE Workshop on Real-Time Operating Systems and Software, pp. 74–78.
Doytchinov, B., Lehoczky, J., and Shreve, S. 2001. Real-time queues in heavy traffic with earliest-deadline-first queue discipline.Annals of Applied Probability 11: 332–378.
Eker, J., Hagander, P., and Årzén, K. E. 2000. A feedback scheduler for real-time control tasks.Control Engineering Practice 8(12): 1369–1378.
Fineberg, M. S., and Serlin, O. 1967. Multiprogramming for hybrid computation.Proceedings of the AFIPS Fall Joint Computing Conference, pp. 1–13.
Franklin, G. E., Powell, J. D., and Emami-Naeini, A. 1994.Feedback Control of Dynamic Systems. Reading, MA: Addison-Wesley.
Funk, S., Goossens, J., and Baruah, S. 2001. On-line scheduling on uniform multiprocessors. InProceedings of the 22nd IEEE Real-Time Systems Symposium. London, UK, IEEE Computer Society, pp. 183–192.
Gandhi, N., Parekh, S., Hellerstein, J., and Tilbury, D. M. 2001. Feedback control of a lotus notes server: Modeling and control design. InAmerican Control Conference.
Gardener, M. K. 1999. Probabilistic analysis and scheduling of critical soft real-time systems. Ph.D. Thesis, Department of Computer Science, University of Illinois at Urbana-Champaign.
Garey, M. R., and Johnson, D. S. 1975. Complexity results for multiprocessor scheduling under resource constraint.SIAM J. Comput. 4: 397–411.
Garey, M. R., and Johnson, D. S. 1979.Computers and Intractability: A Guide to the Theory of NP-Completeness. New York: W. H. Freeman.
Ghazalie, T. M., and Baker, T. P. 1995. Aperiodic servers in a deadline scheduling environment.Real-Time Systems 9: 31–67.
Goddard, S., and Jeffay, K. 2000. The synthesis of real-time systems from processing graphs. InProceedings of the 5th IEEE International Symposium on High Assurance Systems Engineering, pp. 177–186.
Goossens, J., Funk, S., and Baruah, S. 2003. Priority-driven scheduling of periodic task systems on multiprocessors.Real-Time Systems 25(2/3): 187–205.
Gutierrez, J. P., and Harbour, M. G. 1998. Best-case analysis for improving the worst-case schedulability test for distributed hard real-time systems. In10th Euromicro Workshop on Real-Time Systems. IEEE Computer Society, pp. 35–44.
Gutierrez, J. P., Garcia, J. G., and Harbour, M. G. 1995. Optimized priority assignment for tasks and messages in distributed real-time systems.IEEE Parallel and Distributed Systems, pp. 124–131.
Gutierrez, J. P., Garcia, J. G., and Harbour, M. G., 1997. On the schedulability analysis for distributed real-time systems. InProceedings of the 9th Euromicro Workshop on Real-Time Systems, pp. 136–143.
Ha, R., and Liu, J. W. S. 1993. Validating timing constraints in multiprocessor and distributed real-time systems. InProceedings of the 14th IEEE International Conference on Distributed Computing Systems. Poznan, Poland, June, IEEE Computer Society, pp. 162–171.
Han, C., and Lin, K. J., Scheduling distance-constrained real-time tasks. InProceedings of the 13th IEEE Real-Time Systems Symposium, pp. 300–308.
Han, C., and Tyan, H. 1997. A better polynomial-time scheduling test for real-time fixed-priority scheduling algorithms. InProceedings of the 18th IEEE Real-Time Systems Symposium, pp. 36–45.
Harbour, M. G, Klein, M. H., and Lehoczky, J. P. 1991. Fixed priority scheduling of periodic tasks with varying execution priority. InProceedings of the 12th IEEE Real-Time Systems Symposium, pp. 116–128.
Harter, P. K. 1984. Response times in level structured systems. Technical Report CU-CS-269-94, Department of Computer Science, University of Colorado, USA.
Harter, P. K. 1987. Response times in level structured systems.ACM Transactions on Computer Systems 5(3): 232–248.
Hellerstein, J. L., Diao, Y., Parekh, S., and Tilbury, D. M. 2004.Feedback Control of Computing Systems. New York: Wiley.
Henriksson, D., Lu, Y., and Abdelzaher, T. 2004. Improved prediction for Web server delay control. InProceedings of the Euromicro Conference on Real-Time Systems. Catania, Sicily, Italy.
Henzinger, T. A., Horowitz, B., and Kirsch, C. M. 2001. Giotto: a time-triggered language for embedded programming. InProceedings of the First International Workshop on Embedded Software, pp. 166–184.
Hollot, C. V., Misra, V., Towsley, D. F., and Gong, W. 2001a. A control theoretic analysis of RED. InProceedings of the IEEE Infocom. Anchorage, Alaska, pp. 1510–1519.
Hollot, C. V., Misra, V., Towsley, D. F., and Gong, W. 2001b. On designing improved controllers for AQM routers supporting TCP flows. InProceedings of the IEEE Infocom, pp. 1726–1734.
Holman, P., and Anderson, J. 2002. Locking in Pfair-scheduled multiprocessor systems. InProceedings of the 23rd IEEE Real-Time Systems Symposium. IEEE, pp. 149–158.
Holman, P., and Anderson, J. 2004. Implementing pfairness on a symmetric multiprocessor. InProceedings of the 10th IEEE Real-Time and Embedded Technology and Applications Symposium. IEEE, pp. 544–553.
Hou, C.-J., and Shin, K. G. 1997. Allocation of periodic task modules with precedence and deadline constraints in distributed real-time systems.IEEE Transactions on Computers 46(12): 1338–1356.
IEEE Portable Applications Standards Committee. 2003.ISO/IEC 9945-2: 2003(E), Information technology—Portable Operating System Interface (POSIX)—Part 2: System Interfaces. IEEE Standards Association.
Jackson, L., and Rouskas, G. 2003. Optimal quantization of periodic task requests on multiple identical processors.IEEE Transactions on Parallel and Distributed Systems 14(8): 795–806.
Jeffay, K. 1992. Scheduling sporadic tasks with shared resources in hard-real-time systems. InProceedings of the 13th IEEE Real-Time Systems Symposium. Phoenix, AZ, USA, pp. 89–99.
Jeffay, K., and Goddard, S. 1999. A theory of rate-based execution. InProceedings of the 20th IEEE Real-Time Systems Symposium. IEEE, pp. 304–314.
Jeffay, K., and Goddard, S. 2001. Rate-based resource allocation methods for embedded systems. InProceedings of the EMSOFT 2001: The First International Workshop on Embedded Software.Lecture Notes in Computer Science. Springer-Verlag, pp. 204–222.
Jeffay, K., and Lamastra, G. 2000. A comparative study of the realization of rate-based computing services in general purpose operating systems. InProceedings of the International Conference on Real-Time Computing Systems and Applications. Cheju Island, South Korea, IEEE Computer Society Press, pp. 81–90.
Jensen, E. D., Locke, C. D., and Tokuda, H. 1985. A time driven scheduling model for real-time operating systems. InProceedings of the 6th IEEE Real-Time Systems Symposium, pp. 112–122.
Joseph, M., and Pandya, P. 1986. Finding response times in a real-time system.BCS Computer Journal 29(5): 390–395.
Keshav, S. 1993. A control-theoretic approach to flow control. InProceedings of the Conference on Communications Architecture and Protocols, pp. 3–15.
Klein, M., Ralya, T., Pollak, B., Obenza, R., and Harbour, M. G. 1993.A Practitioner's Handbook for Real Time Analysis: A Guide to Rate Monotonic Analysis for Real Time Systems. Boston-Dordrecht-London: Kluwer.
Koren, G., and Shasha, D. 1995. Skip-over: Algorithms and complexity for overloaded systems that allow skips. InProceedings of the IEEE Real Time System Symposium. Pisa, pp. 110–117.
Kruk, L., Lehoczky, J., Shreve, S., and Yeung, S.-N. 2004. Earliest-deadline-first service in heavy-traffic acyclic networks.Annals of Applied Probability 14(3): 1306–1352.
Lampson, B. W., and Redell, D. 1980. Experience with processes and monitors in Mesa.CACM 23(2): 105–117.
Lauzac, S., Melkem, R., and Mosse, D. 1998. Comparison of global and partitioning schemes for scheduling rate monotonic tasks on a multiprocessor. In10th Euromicro Workshop on Real-Time Systems. IEEE Computer Society, pp. 188–195.
Lawrence, D. A., Jianwei, G., Mehta, S., and Welch, L. R. 2001. Adaptive scheduling via feedback control for dynamic real-time systems. InIEEE International Performance, Computing, and Communications Conference. Pheonix, AZ, USA, pp. 373–378.
Lehoczky, J. P. 1990. Fixed priority scheduling of periodic task sets with arbitrary deadlines. InProceedings of the 11th IEEE Real-Time Systems Symposium, pp. 201–209.
Lehoczky, J. P. 1996. Real-time queueing theory. InProceedings of the IEEE Real-Time Systems Symposium, pp. 186–195.
Lehoczky, J. P. 1997a. Real-time queueing network theory. InProceedings of the IEEE Real-Time Systems Symposium, pp. 58–67.
Lehoczky, J. P. 1997b. Using real-time queueing theory to control lateness in real-time systems.Performance Evaluation Review, pp. 158–168.
Lehoczky, J. P. 1998. Scheduling communication networks carrying real-time traffic. InProceedings of the IEEE Symposium on Real-Time Systems, pp. 470–479.
Lehoczky, J. P., and Sha, L. 1986. Performance of real-time bus scheduling algorithms. InProceedings of the 1986 ACM SIGMETRICS Joint International Conference on Computer Performance Modelling, Measurement and Evaluation. ACM, pp. 44–53.
Lehoczky, J. P., Sha, L., and Ding, D. Y. 1989. The rate monotonic scheduling algorithm: exact characterization and average case behavior. InProceedings of the 10th IEEE Real-Time Systems Symposium, pp. 166–171.
Lehoczky, J. P., Sha, L., and Strosnider, J. K. 1987. Enhanced aperiodic responsiveness in a hard real-time environment. InProceedings of the 8th IEEE Real-Time Systems Symposium, pp. 261–270.
Lehoczky, J. P., and Thuel, S. R. 1992. An optimal algorithm for scheduling soft-aperiodic tasks in fixed-priority preemptive systems. InProceedings of the 13th IEEE Real-Time Systems Symposium. Phoenix, AZ, USA, pp. 110–123.
Lesser, V. R., Pavlin, J., and Durfee, E. 1988. Approximate processing in real-time problem solving.AI Magazine 9: 49–61.
Leung, J. Y.-T., and Merrill, M. L. 1980. A note on preemptive scheduling of periodic, real-time tasks.Information Processing Letters 11(3): 115–118.
Leung, J. Y. T., and Whitehead, J. 1982. On the complexity of fixed-priority scheduling of periodic, real-time tasks.Performance Evaluation (Netherlands) 2(4): 237–250.
Levy, R., Nagarajarao, J., Pacifici, G., Spreitzer, A., Tantawi, A., and Youssef, A. 2003. Performance management for cluster based Web services. InIFIP/IEEE 8th International Symposium on Integrated Network Management, pp. 247–261.
Li, C., Bettati, R., and Zhao, W. Static priority scheduling for ATM networks. InProceedings of the 18th IEEE Real-Time Systems Symposium. San Francisco, CA, USA, pp. 264–273.
Lima, G., and Burns, A. 2003. An optimal fixed-priority assignment algorithm for supporting fault-tolerant hard real-time systems.IEEE Transaction on Computer Systems, pp. 1332–1346.
Lin, K. J., Natarajan, S., and Liu, J. W. S. 1987. Concord: A system of imprecise computation. InProceedings of the 1987 IEEE Compsac.
Lincoln, B. 2002. Jitter compensation in digital control systems. InProceedings of the 2002 American Control Conference.
Lipari, G., and Baruah, S. K. 2000. Greedy reclaimation of unused bandwidth in constant bandwidth servers. InProceedings of the 12th Euromicro Conference on Real-Time Systems. Stokholm, Sweden, pp. 192–200.
Liu, C. L., and Layland, J. W. 1973. Scheduling algorithms for multiprogramming in a hard real-time environment.Journal of the ACM 20(1): 46–61.
Liu, J. W. S. 2000.Real-Time Systems. Englewood Cliffs, NJ: Prentice-Hall.
Liu, J. W. S., Lin, K. J., and Natarajan, S. 1987. Scheduling real-time, periodic jobs using imprecise results. InProceedings of the IEEE Real-Time System Symposium. San Jose, CA, USA, pp. 252–260.
Liu, J. W. S., Lin, K. J., Shih, W. K., Yu, A. C. S., Chung, J. Y., and Zhao, W. 1991. Algorithms for scheduling imprecise computations.IEEE Computer 24(5): 58–68.
Liu, J. W. S., Shih, W. K., Lin, K. J., Bettati, R., and Chung, J. Y. 1994. Imprecise computations.Proceedings of the IEEE 82(1): 83–94.
Locke, C. D. 1986. Best-effort decision making for real-time scheduling. CMU-CS-86-134, Ph.D. Thesis, Computer Science Department, CMU.
Lopez, J. M., Diaz, J. L., and Garcia, D. F. 2001. Minimum and maximum utilization bounds for multiprocessor RM scheduling. InProceedings of the Euromicro Conference on Real-Time Systems. Delft, Netherlands, pp. 67–75.
Lu, C., Abdelzaher, T., Stankovic, J. A., and Son, S. 2001. A feedback control approach for guaranteeing relative delays in Web servers. InIEEE Real-Time Technology and Applications Symposium. TaiPei, Taiwan, pp. 51–62.
Lu, C., Alvarez, G. A., and Wilkes, J. 2002. Aqueduct: online data migration with performance guarantees. InUSENIX Conference on File and Storage Technologies. Monterey, CA.
Lu, C., Stankovic, J. A., Tao, G., and Son, S. 1999. Design and evaluation of a feedback control EDF scheduling algorithm. InProceedings of the 20th IEEE Real-Time Systems Symposium. Phoenix, AZ, USA, pp. 56–67.
Lu, C., Stankovic, J. A., Tao, G., and Son, S. 2002. Feedback control real-time scheduling: framework, modeling, and algorithms.Real-Time Systems 23(1/2): 85–126.
Lu, Y., Abdelzaher, T., Lu, C., Sha, L., and Liu, X. 2003. Feedback control with queueing-theoretic prediction for relative delay. InIEEE Real-Time and Embedded Technology and Applications Symposium.
Lu, Y., Saxena, A., and Abdelzaher, T. 2001. Differentiated caching services: a control-theoretical approach. InProceedings of the 2001 International Conference on Distributed Computing Systems, pp. 615–622.
Lundberg, L. 2002. Analyzing fixed-priority global multiprocessor scheduling. InProceedings of the 8th IEEE Real-Time and Embedded Technology and Applications Symposium. San Jose, CA, USA, IEEE Computer Society, pp. 145–153.
Markatos, E. P. 1993.Multiprocessor Synchronization Primitives with Priorities. In Yann Hang Lee, and C. M. Krishna (eds.), IEEE Computer Society, pp. 111–120.
Marti, P., Fohler, G., Ramamritham, K., and Fuertes, J. M. 2001. Jitter compensation for real-time control systems. InProceedings of the 22nd IEEE Real-Time Systems Symposium, pp. 39–48.
Mercer, C. W., Savage, S., and Tokuda, H. 1993. Processor capacity reserves: An abstraction for managing processor usage. InWWOS, pp. 129–134.
Mercer, C. W., Savage, S., and Tokuda, H. Temporal protection in real-time operating systems. InProceedings of the 11th IEEE workshop on Real-Time Operating System and Software. IEEE, pp. 79–83.
Moir, M., and Ramamurthy, S. 1999. Pfair scheduling of fixed and migrating periodic tasks on multiple resources. InProceedings of the 20th IEEE Real-Time Systems Symposium, pp. 294–303.
Mok, A. K. 1983. Fundamental Design Problems of Distributed Systems for the Hard Real-Time Environment. Ph.D. Thesis, Massachusetts Institute of Technology, Department of Electrical Engineering and Computer Science, Cambridge, MA.
Mok, A. K., Amerasinghe, P., Chen, M., Sutanthavibul, S., and Tantisirivat, K. 1987. Synthesis of a real-time message processing system with data-driven timing constraints. InProceedings of the 18th IEEE Real-Time Systems Symposium, pp. 133–143.
Mok, A. K., and Chen, D. 1997. A multiframe model for real-time tasks.IEEE Transactions on Software Engineering 23(10): 635–645.
Mok, A. K., and Feng, X. 2002. Real-time virtual resource: a timely abstraction for embedded systems. InThe Second International Conference on Embedded Software,Lecture Notes in Computer Science, LNCS 2491. Berlin: Springer, pp. 182–196.
Mok, A. K., Tsou, D. C., and de Rooij, R. C. M. 1996. The MSP.RTL real-time scheduler synthesis tool. InProceedings of the 17th IEEE Real-Time Systems Symposium, pp. 118–128.
Mueller, F. 1999. Priority inheritance and ceilings for distributed mutual exclusion. InProceedings of the 20th IEEE Real-Time Systems Symposium, pp. 340–349.
Nahrstedt, K. 1995. End-to-end QoS guarantees in networked multimedia system.ACM Computing Surveys 27(4): 613–616.
Nassor, E., and Bres, G. 1991. Hard real-time sporadic task scheduling for fixed priority schedulers. InProceedings of the International Workshop on Responsive Systems. Golfe-Juan, France, pp. 44–47.
Natarajan, S. (ed). 1995.Imprecise and Approximate Computation. Boston-Dordrecht-London: Kluwer.
Ng, J., Song, S., and Zhao, W. 1997. Integrated delay analysis of regulated ATM switch. InProceedings of the 18th IEEE Real-Time Systems Symposium. San Francisco, CA, USA, pp. 285–296.
Nilsson, J., Bernhardsson, B., and Wittenmark, B. 1998. Stochastic analysis and control of real-time systems with random time delays.Automatica 34(1): 57–64.
Oh, D. I., and Baker, T. P. 1998. Utilization bounds forN-processor rate monotone scheduling with stable processor assignment.Real Time Systems 15(2): 183–193.
Oh, Y., and Son, S. H. 1995. Allocating fixed-priority periodic tasks on multiprocessors.Real-Time Systems 9: 207–239.
Palencia, J. C., and Harbour, M. G. 1998. Schedulability analysis for tasks with static and dynamic offsets. InProceedings of the 19th IEEE Real-Time Systems Symposium, pp. 26–37.
Phillips, C. A., Stein, C., Torng, E., and Wein, J. 1997. Optimal time-critical scheduling via resource augmentation. InProceedings of the 29th Annual ACM Symposium on Theory of Computing. El Paso, Texas, ACM, pp. 140–149.
Pradhan, P., Tewari, R., Sahu, S., Chandra, A., and Shenoy, P. 2002. An observation-based approach towards self-managing Web servers. InThe 10th International Workshop on Quality of Service.
Quan, G., and Hu, X. 2000. Enhanced fixed-priority scheduling with (m, k)-firm guarantees. InProceedings of the 21st IEEE Real-Time Systems Symposium, pp. 79–88.
Rajkumar, R., Lee, C., Lehoczky, J. P., and Siewiorek, D. P. 1998. Practical solutions for QoS-based resource allocation problems. InProceedings of the IEEE Symposium on Real-Time Systems, pp. 296–306.
Rajkumar, R., Sha, L., and Lehoczky, J. P. 1988. Real-time synchronization protocols for multiprocessors. InProceedings of the 9th IEEE Real-Time Systems Symposium, pp. 259–269.
Rajkumar, R., Sha, L., and Lehoczky, J. P. 1990. Real-time synchronization protocols for shared memory multiprocessors. InProceedings of the 10th International Conference on Distributed Computing, pp. 116–125.
Rajkumar, R., Sha, L., Lehoczky, J. P., and Ramamritham, K. 1994. An optimal priority inheritance policy for synchronization in real-time systems. In S. H. Son, (ed.),Advances in Real-Time Systems. Englewood Cliffs, NJ: Prentice-Hall, pp. 249–271.
Ramamritham, K. 1990. Allocation and scheduling of complex periodic tasks. InProceedings of the 10th IEEE International Conference on Distributed Computing Systems, pp. 108–115.
Ramamritham, K., and Stankovic, J. A. 1984. Dynamic task scheduling in distributed hard real-time systems.IEEE Software 1(3): 65–75.
Ramamritham, K., Stankovic, J. A., and Shiah, P. 1990. Efficient scheduling algorithms for real-time multiprocessor systems.IEEE Transactions on Parallel and Distributed Systems, pp. 184–194.
Ramamritham, K., Stankovic, J. A., and Zhao, W. 1989. Dynamic task scheduling in distributed hard real-time systems.IEEE Transactions on Computers 38(8): 1110–1123.
Ramos-Thuel, S., and Lehoczky, J. P. 1993. On-line scheduling of hard deadline aperiodic tasks in fixed-priority systems. InProceedings of the 14th IEEE Real-Time Systems Symposium pp. 160–171.
Ramos-Thuel, S., and Lehoczky, J. P. 1994. Algorithms for scheduling hard aperiodic tasks in fixed priority systems using slack stealing. InProceedings of the 15th IEEE Real-Time Systems Symposium. San Juan, Puerto Rico, pp. 22–35.
Ramos-Thuel, S., and Stosnider, J. K. 1991. The transient server apporoach to scheduling time-critical recovery operations. InProceedings of the 12th IEEE Real-Time Systems Symposium, pp. 286–295.
Seto, D., Lehoczky, J. P., Sha, L., and Shin, K. G. 1996. On task schedulability in real-time control systems. InProceedings of the 17th IEEE Real-Time Systems Symposium. Washington, DC, pp. 13–21.
Seto, D., Lehoczky, J. P., Sha, L., and Shin, K. G. 2001. Trade-off analysis of real-time control performance and schedulability.Real-Time Systems 21(3): 199–217.
Sha, L. 2001. Using simplicity to control complexity.IEEE Software 18(4): 20–28.
Sha, L., and Goodenough, J. 1990. Real-time scheduling theory and Ada.IEEE Computer 23(4): 53–62.
Sha, L., Lehoczky, J. P., and Rajkumar, R. 1986. Solutions for some practical problems in prioritizing preemptive scheduling. InProceedings of the 7th IEEE Real-Time Sytems Symposium, pp. 181–191.
Sha, L., Lehoczky, J. P., and Rajkumar, R. 1987. Task scheduling in distributed real-time systems. InProceedings of the IEEE Industrial Electronics Conference.
Sha, L., Liu, X., Lu, Y., and Abdelzaher, T. 2002. Queuing model based network server performance control. InIEEE Real-Time Systems Symposium, pp. 81–90.
Sha, L., and Rajkumar, R. 1990. Real-time scheduling support in Futurebus +. InProceedings of the 11th IEEE Real-Time Systems Symposium, pp. 331–340.
Sha, L., Rajkumar, R., and Lehoczky, J. 1991. Real time computing with Futurebus +.IEEE Micro 11(3): 95–100.
Sha, L., Rajkumar, R., and Lehoczky, J. P. 1990. Priority inheritance protocols: an approach to real-time synchronization.IEEE Transactions on Computers 39(9): 1175–1185.
Sha, L., Rajkumar, R., Son, S., and Chang, C.-H. 1991. A real-time locking protocol.IEEE Transactions on Computers 40(7): 793–800.
Shih, W., Liu, W. S., and Chung, J. 1991. Algorithms for scheduling imprecise computations with timing constraints.SIAM Journal of Computing 20(3): 537–552.
Shih, W., Liu, W. S., Chung, J., and Gillies, D. W. 1989. Scheduling tasks with ready times and deadlines to minimize average error.Operating Systems Review 23(3): 14–28.
Shin, I., and Lee, I. 2003. Periodic resource model for compositional real-time guarantees.IEEE Real-Time Systems Symposium, pp. 2–11.
Simpson, H. 1990. Four-slot fully asynchronous communication mechanism.IEE Proceeding 137(1): 17–30.
Sjodin, M., and Hansson, H. 1998. Improving response-time analysis calculations. InProceedings of the 19th IEEE Real-Time Systems Symposium, pp. 399–408.
Skadron, K., Abdelzaher, T., and Stan, M. R. 2001. Control-theoretic techniques and thermal-RC modeling for accurate and localized dynamic thermal management. InInternational Symposium on High Performance Computer Architecture.
Sprunt, B., Lehoczky, J., and Sha, L. 1988. Exploiting unused periodic time for aperiodic service using the extended priority exchange algorithm. InProceedings of the 9th IEEE Real-Time Systems Symposium, pp. 251–258.
Sprunt, B., Sha, L., and Lehoczky, L. 1989. Aperiodic task scheduling for hard real-time systems.Real-Time Systems 1(1): 27–60.
Spuri, M., and Buttazzo, G. 1994. Efficient aperiodic service under the earliest deadline scheduling. InProceedings of the IEEE Real-Time Systems Symposium.
Spuri, M., and Buttazzo, G. 1996. Scheduling aperiodic tasks in dynamic priority systems.Real-Time Systems 10(2): 179–210.
Srinivasan, A., and Anderson, J. 2002. Optimal rate-based scheduling on multiprocessors. InProceedings of the 34th ACM Symposium on Theory of Computing. ACM, pp. 189–198.
Srinivasan, A., and Anderson, J. 2003. Efficient scheduling of soft real-time applications on multiprocessors. InProceedings of the 15th Euromicro Conference on Real-Time Systems, pp. 51–59.
Srinivasan, A., Holman, P., and Anderson, J. 2002. Integrating aperiodic and recurrent tasks on fair-scheduled multiprocessors. InProceedings of the 14th Euromicro Conference on Real-Time Systems. IEEE, pp. 19–28.
Stankovic, J. A., Lu, C., Son, S., and Tao, G. 1999. The case for feedback control real-time scheduling. InIEEE Proceedings of the 11th Euromicro Conference on Real-Time Systems. York, UK, pp. 11–12.
Stankovic, J. A., and Ramamritham, K. 1991. The Spring kernel: a new paradigm for hard real-time operating systems.IEEE Software 8(3): 62–72.
Stankovic, J. A., Ramamritham, K., and Cheng, S. 1985. Evaluation of a flexible task scheduling algorithm for distributed hard real-time systems.IEEE Transactions on Computers 34(12): 1130–1143.
Stankovic, J. A., Ramamritham, K., Spuri, M., and Buttazzo, G. 1998.Deadline scheduling for real-time systems. Boston-Dordrecht-London: Kluwer.
Strosnider, J., Lehoczky, J. P., and Sha, L. 1995. The deferrable server algorithm for enhanced aperiodic responsiveness in real-time environments.IEEE Transactions on Computers 44(1): 73–91.
Tia, T. S., Liu, J. S., and Shankar, M. 1996. Algorithms and optimality of scheduling soft aperiodic requests in fixed-priority preemptive systems.Real-Time Systems 10(1): 23–43.
Tindell, K., Burns, A., and Wellings, A. J. 1992. Allocating real-time tasks (an NP-hard problem made easy).Real-Time Systems 4(2): 145–165.
Tindell, K., Burns, A., and Wellings, A. J. 1994. An extendible approach for analysing fixed priority hard real-time tasks.Real-Time Systems 6(2): 133–151.
Tindell, K., and Clark, J. 1994. Holistic schedulability analysis for distributed hard real-time systems.Euromicro Journal (Special Issue on Parallel Embedded Real-Time Systems) 40: 117–134.
Tindell, K. Hansson, H., and Wellings, A. J. 1994. Analysing real-time communications: controller area network (CAN). InProceedings of the 15th IEEE Real-Time Systems Symposium, pp. 259–265.
Törngren, M. 1998. Fundamentals of implementing real-time control applications in distributed computer systems.Real-Time Systems 14(3): 219–250.
Wang, W., Mok, A. K., and Fohler, G. 2003. A hybrid proactive approach for integrating off-line and on-line real-time schedulers. InThe Third International Conference on Embedded Software, pp. 356–372.
Wei, L., and Yu, H. 2003. Research on a soft real-time scheduling algorithm based on hybrid adaptive control architecture. InAmerican Control Conference. CO, Denver, USA, pp. 4022–4027.
Wyle, H., and Burnett, G. J. 1967. Management of periodic operations in a real-time computation system. InProceedings of the AFIPS Fall Joint Computer Conference, pp. 201–208.
Yeung, S.-N., and Lehoczky, J. P. 2001. End-to-end delay analysis for real-time networks. InIEEE Real-Time Systems Symposium, pp. 299–309.
Zhang, Q., Zhu, W., and Zhang, Y.-Q. 2001. Resource allocation for multimedia streaming over the internet.IEEE Transactions on Multimedia 3(3): 339–355.
Zhang, R., Lu, C., Abdelzaher, T., and Stankovic, J. A. 2002. ControlWare: a middleware architecture for feedback control of software performance. InProceedings of the 2002 International Conference on Distributed Computing Systems. Vienna, Austria, pp. 301–310.
Zhao, W., and Ramamritham, K. 1985. Distributed scheduling using bidding and focussed addressing. InProceedings of the 6th IEEE Real-Time Systems Symposium. San Diego, CA, USA, pp. 103–111.
Zhao, W., and Ramamritham, K. 1986. A virtual time CSMA protocol for hard real-time communications. InProceedings of the 7th IEEE Real-Time Systems Symposium. New Orleans, Louisiana, USA, pp. 120–127.
Zhao, W., and Ramamritham, K. 1987. Simple and integrated heuristic algorithms for scheduling tasks with time and resource constraints.Journal of Systems and Software, pp. 195–205.
Zhao, W., Ramamritham, K., and Stankovic, J. A. 1987a. Preemptive scheduling under time and resource constraints.IEEE Transactions on Computers C-36(8): 949–960.
Zhao, W., Ramamritham, K., and Stankovic, J. A. 1987b. Scheduling tasks with resource requirements in hard real-time systems.IEEE Transactions on Software Engineering SE-12(5): 567–577.
Author information
Authors and Affiliations
Department of Computer Science, University of Illinois at Urbana Champaign, USA
Lui Sha & Marco Caccamo
Department of Computer Science, University of Virginia, USA
Tarek Abdelzaher
Department of Automatic Control, Lund Institute of Technology, Sweden
Karl-Erik årzén & Anton Cervin
Department of Computer Science, Florida State University, USA
Theodore Baker
Department of Computer Science, University of York, UK
Alan Burns
Department of Computer Science, University of Pavia, Italy
Giorgio Buttazzo
Department of Statistics, Carnegie Mellon University, USA
John Lehoczky
Department of Computer Science, University of Texas at Austin, USA
Aloysius K. Mok
- Lui Sha
You can also search for this author inPubMed Google Scholar
- Tarek Abdelzaher
You can also search for this author inPubMed Google Scholar
- Karl-Erik årzén
You can also search for this author inPubMed Google Scholar
- Anton Cervin
You can also search for this author inPubMed Google Scholar
- Theodore Baker
You can also search for this author inPubMed Google Scholar
- Alan Burns
You can also search for this author inPubMed Google Scholar
- Giorgio Buttazzo
You can also search for this author inPubMed Google Scholar
- Marco Caccamo
You can also search for this author inPubMed Google Scholar
- John Lehoczky
You can also search for this author inPubMed Google Scholar
- Aloysius K. Mok
You can also search for this author inPubMed Google Scholar
Rights and permissions
About this article
Cite this article
Sha, L., Abdelzaher, T., årzén, KE.et al. Real Time Scheduling Theory: A Historical Perspective.Real-Time Systems28, 101–155 (2004). https://doi.org/10.1023/B:TIME.0000045315.61234.1e
Share this article
Anyone you share the following link with will be able to read this content:
Sorry, a shareable link is not currently available for this article.
Provided by the Springer Nature SharedIt content-sharing initiative