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<p>Formal results for precedence constrained, real-time scheduling of unit time tasks are extended to arbitrary timed tasks with preemption. An exact characterisation of the EDF-like schedulers that can be used to transparently enforce precedence constraints among tasks is shown. These extended results are then integrated with a well-known protocol that handles real-time scheduling of tasks with shared resources, but does not consider precedence constraints. This results in schedulability formulas for task sets which allow preemption, shared resources, and precedence constraints, and a practical algorithm for many real-time uniprocessor systems.</p>
protocols; scheduling; precedence constraints integration; shared resources; real-time scheduling; unit time tasks; EDF-like schedulers; protocol; precedence constraints; real-time uniprocessor systems.

M. Spuri and J. Stankovic, "How to Integrate Precedence Constraints and Shared Resources in Real-Time Scheduling," in IEEE Transactions on Computers, vol. 43, no. , pp. 1407-1412, 1994.
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