We propose an off-line scheduling heuristics which, from a given software application graph and a given multiprocessor architecture (homogeneous and fully connected), produces a static multiprocessor schedule that optimizes three criteria: its
(crucial for real-time systems), its
(crucial for dependable systems), and its
(crucial for autonomous systems). Our tricriteria scheduling heuristics, TSH, uses the
of the operations and the data-dependencies to increase the reliability, and uses
dynamic voltage and frequency scaling
to lower the power consumption.