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Hybrid Rate-Monotonic/Reward-Based Scheduling of Real-Time Embedded Systems

A common need of many embedded systems is the on-line scheduling of periodic, independent, preemptible real-time sets of tasks composed of a mandatory and an optional part. In this paper, a scheduling method, allowing a rearrangement of slack time based on the detection of singular instants during the processing, is presented. The priority policies used are rate monotonic and reward-based, for mandatories and optionals respectively. Contrary to other proposed methods, no restrictions are imposed on the reward- functions except their computability at every slot. The method shows a good performance relative to the Best Incremental Return method, often used as a yardstick.