A cyclic scheduling approach for relative timing requirements

We consider the scheduling problem for periodic tasks with relative timing requirements. Specifically, the timing constraints imposed on the consecutive executions of a task and the inter-task temporal constraints across task periods are considered. A pre-run-time timing analysis technique is applied to the set of tasks. A schedule is generated in which the length of the schedule is the least common multiple (LCM) of all periods. Experiments are conducted to evaluate the performance of the algorithm.