1. A method of multiprocessor task partitioning comprising the steps of: calculating processor utilization for each task; combining tasks sharing a common resource to form composite tasks; calculating processor utilization for each composite task; arranging not combined tasks and the composite tasks in a non increasing order of their processor utilization in an array; applying a worst fit decreasing heuristic on the tasks in said array; using a response time test for the schedulability on each composite task; if the schedulability test does not pass for a composite task: determining the various breaking cost for the composite task by calculating the remote blocking term B r determined by using the following equation: B i , k r ⁢ ⁢ _ ⁢ ⁢ low = max 1 < i ⁢ & ⁢ ⁢ ( τ l , u ′ ) ∈ R ⁡ ( τ i , k ′ ) ⁢ ( W l , u ′ ). and breaking the composite task with the lowest B r .