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In this paper, we define the problem of spatial mapping. We present reasons why performing spatial mappings at run-time is both necessary and desirable. We propose what is—to our knowledge—the first attempt at a formal description of spatial mappings for the embedded real-time streaming application domain. Thereby, we introduce criteria for a qualitative comparison of these spatial mappings. As an illustration of how our formalization relates to practice, we relate our own spatial mapping algorithm to the formal model

Run-time Spatial Mapping of Streaming Applications to Heterogeneous Multi-Processor Systems