doi:10.1109/LRA.2022.3186489engRubio-Anguiano, L.Briz, J. L.Ramirez-Trevino, A.Accounting for preemption and migration costs in the calculation of hard real-time cyclic executives for MPSoCsART-2022-129797This work introduces a methodology to consider preemption and migration overhead in hard real-time cyclic executives on multicore architectures. The approach performs two iterative stages. The first stage takes a cyclic executive, from which the number and timing of all preemptions and migrations for every task is known. Then, it includes this overhead by updating the worst-case execution time (WCET) of the tasks. The second stage calculates a new cyclic executive considering the new WCET of tasks. The stages iterate until the preemption and migration overhead keeps constant. © 2016 IEEE.2022http://zaguan.unizar.es/record/11871510.1109/LRA.2022.3186489http://zaguan.unizar.es/record/118715oai:zaguan.unizar.es:118715info:eu-repo/grantAgreement/ES/AEI/PID2019-105660RB-C21-AEI-10.13039-501100011033info:eu-repo/grantAgreement/ES/DGA-ESF/T58-20RIEEE Robotics and Automation Letters 7, 3 (2022), 7990-7997by-nc-ndhttp://creativecommons.org/licenses/by-nc-nd/3.0/es/info:eu-repo/semantics/openAccess