Book excerpt: A genuinely useful text that gives an overview of the state-of-the-art in system-level design trade-off explorations for concurrent tasks running on embedded heterogeneous multiple processors. The targeted application domain covers complex embedded real-time multi-media and communication applications. This material is mainly based on research at IMEC and its international university network partners in this area over the last decade. In all, the material those in the digital signal processing industry will find here is bang up-to-date.