Patent ID: 8924980

Claim:
A method of scheduling tasks in a radar apparatus, the method comprising: receiving a task to schedule, the task having a desired time for execution; computing for the task, a time based urgency function for before the desired time for the task and a time based urgency function for after the desired time for the task, wherein each urgency function has a gradient and monotonically increases with time; identifying for the task, from before desired time lists and after desired time lists where each respective list stores tasks having urgency functions of the same gradient value, a before desired time list and an after desired time list matching the respective gradient values of the computed urgency functions for the task; storing, in a memory device, the task, the associated urgency function for before the desired time, and the associated urgency function for after the desired time, the storing including placing the task in the identified before desired time list and placing the task in the identified after desired time list, wherein the placing comprises ordering the tasks in the same list based on increasing desired time for execution of the tasks; locating, when a task is to be performed, the task having the highest urgency value, the locating comprising calculating the urgency value of the first executable task in each of the plurality of before desired time lists and the plurality of after desired time lists; and passing to a radar for execution the located task having the highest urgency value.