-We present an approach for scheduling of faulttolerant embedded applications composed of soft and hard realtime processes running on distributed embedded systems. The hard processes are critical and must always complete on time. A soft process can complete after its deadline and its completion time is associated with a value function that characterizes its contribution to the quality-of-service of the application. We propose a quasi-static scheduling algorithm to generate a tree of fault-tolerant distributed schedules that maximize the application's quality value and guarantee hard deadlines.