Real-time round robin, a novel real-time scheduling algorithm, is proposed in this paper. It is a time slot-based algorithm and a combination of earliest deadline first and the cyclic executive. Tasks are divided into groups and each group of tasks is statically assigned a subset of time slots. In a group, tasks are scheduled by earliest deadline first.We introduce "regular" subsets of time slots. It has the advantage that any periodic tasks can be scheduled only at time slots contained in the subset using the minimum number of time slots. We show a method to divide all time slots into at least two regular subsets.Consequently, real-time round robin can schedule periodic tasks whose processor utilization factor does not exceeds 100% without any deadline miss at less scheduling cost than that of earliest deadline first. In addition, a deadline miss of a task in one group does not affect tasks in any other groups.