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To solve computationally expensive problems, multiple processor SoCs (MPSoCs) are frequently used. Mapping of applications to MPSoC architectures and scheduling of tasks are key problems in system level design of embedded systems. In this paper, iterative zone refinement algorithm is described, in which the tasks in the active zone is simultaneously mapped and scheduled for heterogeneous MPSoC architectures. The tradeoff between run-time and quality of solution is possible by adjusting the number of tasks in the zone. The experiments are processed by using both real applications and randomly generated task flow graphs. Experimental results show that our algorithm can obtain more effective solutions when compared to existing scheduling algorithms, such as Performance Effective Task Scheduling (PETS), Heterogeneous Earliest Finish Time (HEFT), and Critical-Path-On a Processor (CPOP).