针对嵌入式多核系统，提出分层多智能体动态电压频率调节方案，兼顾实时性与能效。
HiDVFS: Hierarchical Multi-Agent DVFS for Real-Time OpenMP DAG Workloads
- 分三层智能体协同调度：核心选择、温度分组和任务优先级排序。
- 实测在12个BOTS基准上平均提速4.62倍，能效提升55.7%。
- 适合对实时性与热管理有严苛要求的嵌入式系统开发人员。
多核嵌入式系统中漏电功耗已与动态功耗相当，因此DVFS调度器必须兼顾截止期限与热约束，而不仅是平均完成时间。现有启发式方法缺乏细粒度的每核温度感知控制，并忽视OpenMP DAG任务的不规则执行特性。本文提出HiDVFS，一种通用且可扩展的分层多智能体DVFS调度器：分析代理选择核心与频率，热代理按温度分组核心，优先级代理在任务竞争时排序，所有智能体均通过聚焦于完成时间的奖励函数训练，采用短时前瞻状态塑造以提升样本效率。截止期限为软约束，基于实测参考成本生成；联邦可调度门确保运行点可行，校准的分割合比例盾限制每步动作的预测响应时间。在Jetson TX2上多种子验证显示，HiDVFS实现L10完成时间4.16±0.58秒，相比修正公平性的GearDVFS端口提速2.83倍，节能32.9%，在全部12个BOTS基准上平均提速4.62倍，节能55.7%。跨平台测试（TX2、Orin NX、RubikPi）表明，感知截止期限的DVFS相较固定最高频率可节能15至18%；实测混合关键性研究显示，集群感知资源预留是保持高关键性任务零截止期限错过率的必要条件。
原文摘要 · Abstract (English)
Leakage power in multicore embedded systems now rivals dynamic power, so DVFS schedulers must respect deadlines and thermal limits, not just average makespan. Existing heuristics lack per-core, temperature-aware control and overlook the irregular execution of OpenMP DAGs. We propose HiDVFS, a general, extensible hierarchical multi-agent DVFS scheduler: a profiler agent selects cores and frequencies, a thermal agent groups cores by temperature, and a priority agent orders tasks under contention, all trained with a makespan-focused reward using short-horizon future-state shaping for sample efficiency. Deadlines are soft, derived from a measured reference cost; a federated schedulability gate keeps operating points feasible, and a calibrated split-conformal shield bounds each action's predicted response time. On Jetson TX2 with multi-seed validation, HiDVFS attains a 4.16+/-0.58 s L10 makespan, a 2.83x speedup and 32.9% energy reduction over a fairness-corrected GearDVFS port, and a 4.62x average speedup with 55.7% energy reduction across all 12 BOTS benchmarks. Cross-platform results on TX2, Orin NX, and RubikPi show deadline-aware DVFS cuts energy 15 to 18% versus pinning the maximum frequency, and a measured mixed-criticality study shows cluster-aware reservation is required to keep a high-criticality task's deadline-miss ratio at zero.
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