Abstract Thread allocation is an important problem in dis-tributed real-time and embedded (DRE) systems. A too liberal thread allocation policy may cause deadlock, atoo conservative policy limits potential parallelism, thus wasting resources. However, achieving (global) optimalthread utilization, while avoiding deadlock, has been proven impractical in distributed systems: it requirestoo much communication between components. In previous work we showed that efficient local threadallocation protocols are possible if the protocols are parameterized by global static data, in particular, an an-notation of the global call graph of all tasks to be performed by the system. We proved that absence of cyclicdependencies in this annotation guarantees absence of deadlock. In this paper we present an algorithm to computeoptimal annotations, that is annotations that maximiz
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