Nishanth Shankaran Xenofon D. Koutsoukos Douglas C. Schmidt Yuan Xue Chenyang Lu Hierarchical Control of Multiple Resources in Distributed Real-time and Embedded Systems. 151-160 2006 conf/ecrts/2006 ECRTS http://doi.ieeecomputersociety.org/10.1109/ECRTS.2006.11 db/conf/ecrts/ecrts2006.html#ShankaranKSXL06