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In the past decades, distributed systems have been widely applied to real-time applications, most of which have fault-tolerance requirements to assure high reliability. Due to the stringent space constraints of real-time systems, the issue of schedulability becomes a major concern in the design of fault-tolerant and real-time distributed systems. Most existing real-time and fault-tolerant scheduling algorithms, which are based on the primary - backup scheme for periodic real-time tasks, introduce unnecessary redundancies by aggressively using active-backup copies.
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