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Reconfigurable computing is becoming increasingly attractive for many applications. In this paper, an efficient algorithm named dynamic critical-path based on fit degree (DCPFD) is formalized and used to schedule related hardware tasks in terms of task graphs for reconfigurable FPGAs with respect to the constraints: precedence, deadline and resource. The dynamic critical-path (DCP) dynamically evaluates critical-paths of a task graph and determines the most critical task in order to shorten the schedule length. The fit degree (FD) is calculated for the scheduled task w.r.t each FPGA, and used to check which FPGA has enough space and where in it, to place the task. The Pre-fetching technique is also employed to reduce the FPGA configuration overhead.