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Achieving effective run-time mapping on multiprocessor systems-on-chip (MPSoCs) is a challenging task, particularly since the arrival order of the target applications is not known a priori. This paper targets real-time applications which are dynamically mapped onto embedded MPSoCs, where communication happens via the Network-on-Chip (NoC) approach, and resources connected to the NoC have multiple voltage levels. We address precisely the energy- and performance-aware incremental mapping problem for NoCs with multiple voltage levels and propose an efficient technique (consisting of region selection and node allocation) to solve it. Moreover, the proposed technique allows for new applications to be added to the system with minimal in- terprocessor communication overhead. Experimental results show that the proposed technique is very fast, and as much as 50% communication energy savings can be achieved compared to using an arbitrary allocation scheme.