Paolo Valente Giuseppe Lipari An Upper Bound to the Lateness of Soft Real-Time Tasks Scheduled by EDF on Multiprocessors. 311-320 2005 conf/rtss/2005 RTSS http://doi.ieeecomputersociety.org/10.1109/RTSS.2005.8 db/conf/rtss/rtss2005.html#ValenteL05