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  log d) + minfO(ne); O(n

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by Hui Wu, Joxan Jaffar, Krishna Palem
http://www.comp.nus.edu.sg/~joxan/papers/focs.ps
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Abstract:

We present a fast approximation algorithm for scheduling UET(Unit Execution Time) instructions with precedence constraints in the form of a DAG, latency constraints where the latency between any two instructions is a non-negative integer, timing constraints in the form of individual integer release times and deadlines in a basic block on multiple RISC processors. In general case where latencies are arbitrary non-negative integer, the time complexity of our algorithm is O(n 2

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