  Heterogeneous many-cores are now an integral part of modern computing systems
ranging from embedding systems to supercomputers. While heterogeneous many-core
design offers the potential for energy-efficient high-performance, such
potential can only be unlocked if the application programs are suitably
parallel and can be made to match the underlying heterogeneous platform. In
this article, we provide a comprehensive survey for parallel programming models
for heterogeneous many-core architectures and review the compiling techniques
of improving programmability and portability. We examine various software
optimization techniques for minimizing the communicating overhead between
heterogeneous computing devices. We provide a road map for a wide variety of
different research areas. We conclude with a discussion on open issues in the
area and potential research directions. This article provides both an
accessible introduction to the fast-moving area of heterogeneous programming
and a detailed bibliography of its main achievements.
