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To deliver high performance in power limited systems, architects have turnedto using heterogeneous systems, either CPU+GPU or mixed CPU-hardware systems.However, in systems with different processor types and task affinities,scheduling tasks becomes more challenging than in homogeneous multi-coresystems or systems without task affinities. The problem is even more complexwhen specialized accelerators and task priorities are included. In this paper,we provide a formal proof for the optimal scheduling policy for heterogeneoussystems with arbitrary number of resource types, including specializedaccelerators, independent of the task arrival rate, task size distribution, andresource processing order. We transform the optimal scheduling policy to anonlinear integer optimization problem and propose a fast, near-optimalalgorithm. An additional heuristic is proposed for the case of priority-awarescheduling. Our experimental results demonstrate that the proposed algorithm isonly 0.3% from the optimal and superior to conventional scheduling policies.

Priority-Aware Near-Optimal Scheduling for Heterogeneous Multi-Core Systems with Specialized Accelerators