Scheduling of fault-tolerant embedded systems with soft and hard timing constraints

In this paper we present an approach to the synthesis of fault-tolerant schedules for embedded applications with soft and hard real-time constraints. We are interested to guarantee the deadlines for the hard processes even in the case of faults, while maximizing the overall utility. We use time/utility functions to capture the utility of soft processes. Process re-execution is employed to recover from multiple faults. A single static schedule computed off-line is not fault tolerant and is pessimistic in terms of utility, while a purely online approach, which computes a new schedule every time a process fails or completes, incurs an unacceptable overhead. Thus, we use a quasi-static scheduling strategy, where a set of schedules is synthesized off-line and, at run time, the scheduler will select the right schedule based on the occurrence of faults and the actual execution times of processes. The proposed schedule synthesis heuristics have been evaluated using extensive experiments.