This paper proposes a global multiprocessor scheduling algorithm
for the Linux kernel that combines the global EDF scheduler with
a priority-aware work-stealing load balancing scheme, enabling parallel
real-time tasks to be executed on more than one processor at a given time
instant. We state that some priority inversion may actually be acceptable,
provided it helps reduce contention, communication, synchronisation
and coordination between parallel threads, while still guaranteeing
the expected system’s predictability. Experimental results demonstrate
the low scheduling overhead of the proposed approach comparatively
to an existing real-time deadline-oriented scheduling class for the Linux
kernel
