The aims of the research are to develop a distributed simulation environment and to investigate techniques that support efficient task-scheduling algorithms in fault-tolerant, real-time, distributed, and wireless embedded systems. Techniques developed include deadline-based real-time scheduling, priority-based scheduling, and redundant resource allocation for fault-tolerant, energy-aware, and signal strength-aware scheduling. A system model is proposed, and a prototype of the distributed simulation environment is implemented.Three scheduling algorithms and sample applications are designed and implemented in the environment. Experiment data are collected for analyzing the effectiveness of the algorithms.