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Reconfigurable computing systems make us able to execute tasks in a true multitasking manner. Such systems share the reconfigurable device and processing unit as computing resources which leads to highly dynamic allocation situations. To manage such systems at runtime, a reconfigurable operating system is needed. The main part of this operating system is resource management unit which performs on-line scheduling and placement of hardware tasks at run-time. In this paper, a technique for on-line scheduling and placement is presented. The main characteristics of our method are high resource reusing and reconfiguration overhead mitigation. A large variety of experiments have been conducted on the proposed algorithm using synthetic and real tasks. Obtained results show considerable benefits of this algorithm.