Mapping multiple independent synchronous dataflow graphs onto heterogeneous multiprocessors

We detail a method to facilitate development of real-time applications on heterogeneous multiprocessors. We introduce a new model of computation that allows for nondeterminate communication between independent dataflow graphs. The graphs may communicate in a manner that does not introduce data dependencies between them. We examine the implications of this model, introduce the necessary communication actors, and discuss scheduling techniques for multiple independent graphs. We also illustrate this model with some examples of real-time systems that have been constructed in Ptolemy