| CPC G06F 9/4887 (2013.01) | 19 Claims |

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1. A computer-implemented method in a system comprising one or more processors for executing periodic tasks, comprising:
classifying the periodic tasks into one of at least two groups comprising a first group and a second group;
forming a task queue comprising at least one periodic task; and
queueing a newly arrived periodic task of the first group;
wherein cycle times of first periodic tasks in the first group respectively are one or more integer divisors of a maximum cycle time;
wherein queueing the newly arrived periodic task of the first group comprises:
determining whether or not a conflict exists between the newly arrived periodic task of the first group and any of periodic tasks of the first group in the task queue; and
upon a determination the conflict exists between the newly arrived periodic task of the first group and the periodic tasks of the first group in the task queue, excluding a periodic task of the first group having a lowest priority from the task queue.
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