Reward-Based Voltage Scheduling for Fixed-Priority Hard Real-Time Systems

We address the combined scheduling problem of maximizing the total reward of fixed-priority hard real-time systems with a given energy budget. We present a fully polynomial time approximation scheme (FPTAS) for the off-line job-level scheduling problem and an efficient heuristic for the task-level scheduling problem. We also describe an online algorithm which is effective in leveraging the execution time variation.