Non-preemptive Real-time Task Scheduling on Heterogeneous Systems - A Supervisory Control Based Optimal Approach
Rajesh Devaraj, Arnab Sarkar, Santosh Biswas · 2022 European Control Conference (ECC) · 2022
The nature of processing elements in embedded systems is witnessing a significant shift. Nowadays, embedded systems often composed of specialized multi-cores to satisfy the computation requirements of today's applications. On such heterogeneous multi-cores, execution of the same application may consume different processing times on distinct cores. Appropriate assignment of a given set of applications on the available heterogeneous cores can make a fundamental difference in terms of the performance achieved with respect to various constraints such as resource utilization, reliability, cost, space, etc. in resource-constrained safety-critical real-time systems. However, computation of optimal schedules for heterogeneous platforms is non-trivial and computationally expensive to be conducted on-line. This work presents an off-line optimal scheduler synthesis strategy for periodic non-preemptive task sets to be executed on heterogeneous multi-cores, using Supervisory Control of Timed Discrete Event Systems (SCTDES) as the design formalism. Existing SCTDES based scheduler synthesis mechanisms, prior to the work presented in this paper, do not provide the flexibility to model heterogeneity of the underlying platform. The efficiency of our scheme has been demonstrated using a practical case-study with Instrument Control application.