This survey by Robert I. Davis and Alan Burns from the Real-Time Systems Research Group at the University of York provides an in-depth review of hard real-time scheduling algorithms and schedulability analysis techniques for homogeneous multiprocessor systems. The paper covers key results from the late 1960s to late 2009, outlining fundamental principles, different scheduling methods, and performance metrics. It discusses partitioned, global, and hybrid scheduling algorithms, resource sharing approaches, and empirical investigations. The authors identify open issues, key research challenges, and potential future directions in the field. The survey is structured into several sections, including system models, terminology, notation, performance metrics, fundamental results, and detailed reviews of various scheduling approaches. The paper emphasizes the importance of efficient scheduling policies and accurate schedulability analysis techniques in meeting real-time performance requirements in complex, multi-processor systems.This survey by Robert I. Davis and Alan Burns from the Real-Time Systems Research Group at the University of York provides an in-depth review of hard real-time scheduling algorithms and schedulability analysis techniques for homogeneous multiprocessor systems. The paper covers key results from the late 1960s to late 2009, outlining fundamental principles, different scheduling methods, and performance metrics. It discusses partitioned, global, and hybrid scheduling algorithms, resource sharing approaches, and empirical investigations. The authors identify open issues, key research challenges, and potential future directions in the field. The survey is structured into several sections, including system models, terminology, notation, performance metrics, fundamental results, and detailed reviews of various scheduling approaches. The paper emphasizes the importance of efficient scheduling policies and accurate schedulability analysis techniques in meeting real-time performance requirements in complex, multi-processor systems.