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A method for two-pass scheduling of a plurality of tasks generally including steps (A) to (C). Step (A) may assign each of the tasks to a corresponding one or more of a plurality of processors in a first pass through the tasks. The first pass may be non-iterative. Step (B) may reassign the tasks among the processors to shorten a respective load on one or more of the processors in a second pass through the tasks. The second pass may be non-iterative and may begin after the first pass has completed. Step (C) may generate a schedule in response to the assigning and the reassigning. The schedule generally maps the tasks to the processors.