Abstract
The objective of this paper is to analyze the worst case timing requirement of real-time tasks with checkpointing and to provide the optimal checkpoint placement scheme for fault-tolerant real-time systems. The proposed scheme aims at minimizing the worst case timing requirement of a task which has up to n checkpoints to tolerate a finite permissible number of failures. Simulation result shows that, though it does not increase the average case timing requirement of a task too much, it reduces the worst case timing requirement of a task by about 7% to 26% compared with modified equidistant scheme. The timing information derived in this paper makes checkpointing applicable to real-time systems while keeping the validity of schedulability check developed in the past.
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