A reservation-based algorithm for scheduling both periodic and aperiodic real-time tasks

Abstract

This paper considers the problem of scheduling both periodic and aperiodic tasks in real-time systems. A new algorithm, called reservation-based (RB), is proposed for ordering the execution of real-time tasks. This algorithm can guarantee all periodic-task deadlines while minimizing the probability of missing aperiodic-task deadlines. Periodic tasks are scheduled according to the rate monotonic priority algorithm (RMPA), and aperiodic tasks are scheduled by utilizing the processor time left unused by periodic tasks in each unit cycle. The length, u, of a unit cycle is defined as the greatest common divisor of all task periods, and a task is assumed to be invoked at the beginning of a unit cycle. For a set S of periodic tasks, the RB algorithm reserves a fraction R/sub s/ of processor time in each unit cycle for executing aperiodic tasks without missing any periodic-task deadline. The probability of meeting aperiodic-task deadlines is proved to be a monotonic increasing function of R/sub s/. We derive the value of R/sub s/ that maximizes the processor time reservable for the execution of aperiodic tasks without missing any periodic-task deadline. We also show that if the ratio of the computation time to the deadline of each aperiodic task is bounded by R/sub s/, the RB algorithm can meet the deadlines of all periodic and aperiodic tasks. Our analysis and simulation results show that the RB algorithm outperforms all other scheduling algorithms in meeting aperiodic-task deadlines.