“…Although it is an NP-hard problem, there are many approximation algorithms for solving the problem of realtime task allocation in a heterogeneous processor environment, including traditional real-time task scheduling algorithms such as deadline-monotonic (DM) algorithm [4], rate-monotonic (RM) algorithm [5], least-laxity-first (LLF) algorithm [6], earliest-deadline-first (EDF) algorithm [5], and linear programming-based (LP) algorithm [7] and the swarm intelligence algorithms such as ant colony optimization (ACO) [8], genetic algorithm (GA) [9][10][11], and shuffled frog-leaping algorithm (SFLA) [12,13]. In these studies, most algorithms do not consider energy consumption factors.…”