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We present a constraint logic programming (CLP) approach for synthesis of fault-tolerant hard real-time applications on distributed heterogeneous architectures. We address time-triggered systems, where processes and messages are statically scheduled based on schedule tables. We use process re-execution for recovering from multiple transient faults. We propose three scheduling approaches, which each present a trade-off between schedule simplicity and performance, (i) full transparency, (ii) slack sharing and (iii) conditional, and provide various degrees of transparency. We have developed a CLP framework that produces the fault-tolerant schedules, guaranteeing schedulability in the presence of transient faults. We show how the framework can be used to tackle design optimization problems.The proposed approach has been evaluated using extensive experiments.