The optimal control approach to generalized multiprocessor scheduling

In this paper we present several new results in the theory of homogeneous multiprocessor scheduling. We start with some assumptions about the behavior of tasks, with associated precedence constraints, as processor power is applied. We assume that as more processors are applied to a task, the time taken to compute it decreases, yielding some speedup. Because of communication, synchronization, and task scheduling overhead, this speedup increases less than linearly with the number of processors applied. We also assume that the number of processors which can be assigned to a task is a continuous variable, with a view to exploiting continuous mathematics. The optimal scheduling problem is to determine the number of processors assigned to each task, and task sequencing, to minimize the finishing time.These assumptions allow us to recast the optimal scheduling problem in a form which can be addressed by optimal control theory. Various theorems can be proven which characterize the optimal scheduling solution. Most importantly, for the special case where the speedup function of each task isp , wherep is the amount of processing power applied to the task, we can directly solve our equations for the optimal solution. In this case, for task graphs formed from parallel and series connections, the solution can be derived by inspection. The solution can also be shown to be shortest path from the initial to the final state, as measured by anl _1/ distance metric, subject to obstacle constraints imposed by the precedence constraints.This research has been funded in part by the Advanced Research Project Agency monitored by ONR under Grant No. N00014-89-J-1489, in part by Draper Laboratory, in part by DARPA Contract No. N00014-87-K-0825, and in part by NSF Grant No. MIP-9012773. The first author is now with AT&T Bell Laboratories and the second author is with BBN Incorporated.