Continuous demands for higher performance and reliability within stringent resource budgets is driving a shift from homogeneous to heterogeneous processing platforms for the implementation of today’s cyber-physical systems (CPSs). These CPSs are typically represented as
Directed-acyclic Task Graph
(DTG) due to the complex interactions between their functional components that are often distributed in nature. In this article, we consider the problem of scheduling a real-time application modelled as a single DTG, where tasks may have multiple implementations designated as quality-levels, with higher quality-levels producing more accurate results and contributing to higher rewards/Quality-of-Service for the system. First, we introduce an optimal solution using
Integer Linear Programming (ILP) for a DTG with multiple quality-levels, to be executed on a heterogeneous distributed platform
. However, this ILP-based optimal solution exhibits high computational complexity and does not scale for moderately large problem sizes. Hence, we propose two low-overhead heuristic algorithms called
Global Slack Aware Quality-level Allocator
(
G-SLAQA
) and
Total Slack Aware Quality-level Allocator
(
T-SLAQA
), which are able to produce satisfactorily efficient as well as fast solutions within a reasonable time.
G-SLAQA
, the baseline heuristic, is greedier and faster than its counter-part
T-SLAQA
, whose performance is at least as efficient as
G-SLAQA
. The efficiency of all the proposed schemes have been extensively evaluated through simulation-based experiments using benchmark and randomly generated DTGs. Through the case study of a real-world
automotive traction controller
, we generate schedules using our proposed schemes to demonstrate their practical applicability.