Book excerpt: Modern embedded systems come with contradictory design constraints. On one hand, these systems often target mass production and battery-based devices, and therefore should be cheap and power efficient. On the other hand, they still need to show high (sometimes real-time) performance, and often support multiple applications and standards which requires high programmability. This wide spectrum of design requirements leads to complex heterogeneous System-on-Chip (SoC) architectures -- consisting of several types of processors from fully programmable microprocessors to configurable processing cores and customized hardware components, integrated on a single chip. This study targets such multiprocessor embedded systems and strives to develop algorithms, methods, and tools to deal with a number of fundamental problems which are encountered by the system designers during the early design stages.