Dual priority algorithm to schedule real-time tasks in a shared memory multiprocessor

We present an adaptation of the dual priority scheduling algorithm to schedule both hard real-time periodic tasks and soft-aperiodic tasks in shared memory multiprocessor systems. The goal is to achieve low mean aperiodic response times while meeting all periodic task deadlines. Our proposal allows periodic and aperiodic tasks to migrate to other processors to improve aperiodic mean response time. We show via extensive simulations that our approach gives better results than local slack stealing schedulers.