This paper focuses on energy minimization for the mapping and scheduling of real-time workflows under reliability constraints. Workflow instances are input periodically to the system. Each instance is composed of several tasks and must complete execution before the arrival of the next instance, and with a prescribed reliability threshold. While the shape of the dependence graph is identical for each instance, task execution times are stochastic and vary from one instance to the next. The reliability threshold is met by executing several replicas for each task. The target platform consists of identical processors equipped with Dynamic Voltage and Frequency Scaling (DVFS) capabilities. A different frequency can be assigned to each task replic...