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Improved Elastic Scheduling Algorithms for Implicit-Deadline Tasks

Authors: Marion Sudvarg, Christopher Gill, and Sanjoy Baruah

Published in: LITES, Volume 10, Issue 2 (2025): Special Issue on Industrial Real-Time Systems. Leibniz Transactions on Embedded Systems, Volume 10, Issue 2

Abstract

Elastic scheduling provides a framework under which the utilizations of recurrent tasks are reduced by increasing their periods in response to system overload. The original elastic scheduling model was proposed by Buttazzo et al. in 1998 for implicit-deadline tasks on a uniprocessor and decreases task utilizations to satisfy a schedulable utilization bound. In 2019, Orr and Baruah extended the framework to multiprocessor scheduling of implicit-deadline tasks. In this paper, we propose, analyze, and evaluate new elastic scheduling algorithms for several of the scheduling policies considered in these prior works. In particular, (i) we evaluate an algorithm that we proposed as a short note in the Real-Time Systems journal and demonstrate that it allows for faster admission control than the algorithm of Buttazzo et al. when applied to uniprocessor and fluid scheduling. (ii) We also present faster elastic scheduling algorithms for partitioned EDF scheduling. Finally, (iii) we provide polynomial-time exact elastic scheduling algorithms for global EDF and global RM.

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Marion Sudvarg, Christopher Gill, and Sanjoy Baruah. Improved Elastic Scheduling Algorithms for Implicit-Deadline Tasks. In LITES, Volume 10, Issue 2 (2025): Special Issue on Industrial Real-Time Systems. Leibniz Transactions on Embedded Systems, Volume 10, Issue 2, pp. 2:1-2:36, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2025)

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@Article{sudvarg_et_al:LITES.10.2.2,
  author =	{Sudvarg, Marion and Gill, Christopher and Baruah, Sanjoy},
  title =	{{Improved Elastic Scheduling Algorithms for Implicit-Deadline Tasks}},
  journal =	{Leibniz Transactions on Embedded Systems},
  pages =	{2:1--2:36},
  ISSN =	{2199-2002},
  year =	{2025},
  volume =	{10},
  number =	{2},
  publisher =	{Schloss Dagstuhl -- Leibniz-Zentrum f{\"u}r Informatik},
  address =	{Dagstuhl, Germany},
  URL =		{https://drops.dagstuhl.de/entities/document/10.4230/LITES.10.2.2},
  URN =		{urn:nbn:de:0030-drops-252346},
  doi =		{10.4230/LITES.10.2.2},
  annote =	{Keywords: real-time systems, elastic scheduling, scheduling algorithms}
}

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DOI: 10.4230/LITES.10.1.3

Limited-Preemption EDF Scheduling for Multi-Phase Secure Tasks

Authors: Benjamin Standaert, Fatima Raadia, Marion Sudvarg, Sanjoy Baruah, Thidapat Chantem, Nathan Fisher, and Christopher Gill

Published in: LITES, Volume 10, Issue 1 (2025). Leibniz Transactions on Embedded Systems, Volume 10, Issue 1

Abstract

Safety-critical embedded systems such as autonomous vehicles typically have only very limited computational capabilities on board that must be carefully managed to provide required enhanced functionalities. As these systems become more complex and inter-connected, some parts may need to be secured to prevent unauthorized access, or isolated to ensure correctness. We propose the multi-phase secure (MPS) task model as a natural extension of the widely used sporadic task model for modeling both the timing and the security (and isolation) requirements for such systems. Under MPS, task phases reflect execution using different security mechanisms which each have associated execution time costs for startup and teardown. We develop corresponding limited-preemption EDF scheduling algorithms and associated pseudo-polynomial schedulability tests for constrained-deadline MPS tasks. In doing so, we provide a correction to a long-standing schedulability condition for EDF under limited-preemption. Evaluation shows that the proposed tests are efficient to compute for bounded utilizations. We empirically demonstrate that the MPS model successfully schedules more task sets compared to non-preemptive approaches.

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Benjamin Standaert, Fatima Raadia, Marion Sudvarg, Sanjoy Baruah, Thidapat Chantem, Nathan Fisher, and Christopher Gill. Limited-Preemption EDF Scheduling for Multi-Phase Secure Tasks. In LITES, Volume 10, Issue 1 (2025). Leibniz Transactions on Embedded Systems, Volume 10, Issue 1, pp. 3:1-3:27, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2025)

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@Article{standaert_et_al:LITES.10.1.3,
  author =	{Standaert, Benjamin and Raadia, Fatima and Sudvarg, Marion and Baruah, Sanjoy and Chantem, Thidapat and Fisher, Nathan and Gill, Christopher},
  title =	{{Limited-Preemption EDF Scheduling for Multi-Phase Secure Tasks}},
  journal =	{Leibniz Transactions on Embedded Systems},
  pages =	{3:1--3:27},
  ISSN =	{2199-2002},
  year =	{2025},
  volume =	{10},
  number =	{1},
  publisher =	{Schloss Dagstuhl -- Leibniz-Zentrum f{\"u}r Informatik},
  address =	{Dagstuhl, Germany},
  URL =		{https://drops.dagstuhl.de/entities/document/10.4230/LITES.10.1.3},
  URN =		{urn:nbn:de:0030-drops-230799},
  doi =		{10.4230/LITES.10.1.3},
  annote =	{Keywords: real-time systems, limited-preemption scheduling, trusted execution environments}
}

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Improved Elastic Scheduling Algorithms for Implicit-Deadline Tasks

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Limited-Preemption EDF Scheduling for Multi-Phase Secure Tasks

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