This paper extends U-Link Scheduling to increase the average execution efficiency of the system. We first define the execution efficiency. Then we propose a new algorithm that establishes the co-scheduled sets where the execution efficiency can be increased. Also we present the static estimation of the execution time and provide the schedulability analysis for the extended U-Link Scheduling. In the experiments, we evaluate the advancement of the extended U-Link Scheduling from the viewpoint of the execution efficiency and real-time processing. 