Introduction: background, scope, and context -- Preliminaries: workload and platform models -- Preliminaries: scheduling concepts and goals -- A review of selected results on uniprocessors -- Implicit-deadline (L&L) tasks -- Partitioned scheduling of L&L tasks -- Global dynamic-priority scheduling of L&L tasks -- Global Fixed-Job-Priority scheduling of L&L tasks -- Global Fixed-Task-Priority scheduling of L&L tasks.