Algorithm 1
The pseudocode of RHO strategy.
(1) for each timing instant in set do  (2) RH NULL; Finished ← NULL; /*Initialization*/  (3) for each task arrived before do  (4) if then/*Delete the planning scheme of */  (5) Add to set RH; /*RH is the rollinghorizon*/  (6) else if and then/* is a waiting task*/  (7) Add to set RH;  (8) end if  (9) end for  (10) Sort all task in set RH, and schedule each task by Heuristic  Algorithm in order; /*The pseudocode of this algorithm is given in the following Algorithm 2*/  (11) Add to set Finished;  (12) Update the scheduling decisions;  (13) end for 
