Towards mixed criticality task scheduling in cyber physical systems: Challenges and perspectives.

•The paper surveys the state-of-the-art mixed criticality scheduling algorithms, both for single and multiple processing units.•A comparison of the most notable scheduling algorithms, with a focus on the ones suitable for CPSs is presented.•The necessity to incorporate mixed criticality systems in CPSs is emphasized.•A discussion about the advantages and disadvantages of using mixed criticality scheduling algorithms in CPS is made.•Challenges and future perspectives of mixed criticality scheduling in CPSs are identified.