In this 25th year anniversary paper for the IEEE Real-Time Systems Symposium, we review the key results in real-time scheduling theory and the historical events that led to the establishment of the current real-time computing infrastructure. We conclude this paper by looking at the challenges ahead of us.
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BibTex Entry

@article{Sha2004,
 author = {Lui Sha and Tarek Abdelzaher and Karl-Erik Arzen and Anton Cervin and Theodore Baker and Alan Burns and Giorgio Buttazzo and Marco Caccamo and John Lehoczky and Aloysious K. Mok},
 journal = {Real-Time Systems Journal},
 number = {2/3},
 pages = {101-155},
 title = {Real Time Scheduling Theory: A Historical Perspective},
 volume = {28},
 year = {2004}
}