Procrastinating voltage scheduling with discrete frequency sets

This paper presents an efficient method to find the optimal intra-task voltage/frequency scheduling for single tasks in practical real-time systems using statistical workload information. Our method is analytic in nature and proved to be optimal. Simulation results verify our theoretical analysis and show significant energy savings over previous methods. In addition, in contrast to the previous techniques in which all available frequencies are used in a schedule, we find that, by carefully selecting a subset of a small number of frequencies, one can still design a reasonably good schedule while avoiding unnecessary transition overheads