Many time-critical applications require predictable performance in the presence of failures. This paper considers a distributed system with independent periodic tasks which can checkpoint their state on some reliable medium in order to handle failures. The problem of preemptively scheduling a set of such tasks is discussed where every occurrence of a task has to be completely executed before the next occurrence of the same task can start. Efficient scheduling algorithms are proposed which yield sub-optimal schedules when there is provision for fault-tolerance. The performance of the solutions proposed is evaluated in terms of the number of processors and the cost of the checkpoints needed. Moreover, analytical studies are used to reveal interesting trade-offs associated with the scheduling algorithms.
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