diff --git a/hack/vendor.sh b/hack/vendor.sh
index ce27ffbd69..330b2491ad 100755
--- a/hack/vendor.sh
+++ b/hack/vendor.sh
@@ -139,7 +139,7 @@ clone git github.com/docker/docker-credential-helpers v0.3.0
 clone git github.com/docker/containerd 1b3a81545ca79456086dc2aa424357be98b962ee
 
 # cluster
-clone git github.com/docker/swarmkit 036a4a1e934bd1bbb35c3ec7f85dea2ba6d4e336
+clone git github.com/docker/swarmkit 24eaf0021a2eea7938fce7493ce4731f53c2b87c
 clone git github.com/golang/mock bd3c8e81be01eef76d4b503f5e687d2d1354d2d9
 clone git github.com/gogo/protobuf 43a2e0b1c32252bfbbdf81f7faa7a88fb3fa4028
 clone git github.com/cloudflare/cfssl b895b0549c0ff676f92cf09ba971ae02bb41367b
diff --git a/vendor/src/github.com/docker/swarmkit/agent/node.go b/vendor/src/github.com/docker/swarmkit/agent/node.go
index fd50e4b740..0e68b6e4f7 100644
--- a/vendor/src/github.com/docker/swarmkit/agent/node.go
+++ b/vendor/src/github.com/docker/swarmkit/agent/node.go
@@ -562,6 +562,7 @@ func (n *Node) initManagerConnection(ctx context.Context, ready chan<- struct{})
 	for {
 		s, err := conn.WaitForStateChange(ctx, state)
 		if err != nil {
+			n.setControlSocket(nil)
 			return err
 		}
 		if s == grpc.Ready {
diff --git a/vendor/src/github.com/docker/swarmkit/api/types.pb.go b/vendor/src/github.com/docker/swarmkit/api/types.pb.go
index 065a58c217..49754b8622 100644
--- a/vendor/src/github.com/docker/swarmkit/api/types.pb.go
+++ b/vendor/src/github.com/docker/swarmkit/api/types.pb.go
@@ -644,9 +644,8 @@ type Mount struct {
 	Source string `protobuf:"bytes,2,opt,name=source,proto3" json:"source,omitempty"`
 	// Target path in container
 	Target string `protobuf:"bytes,3,opt,name=target,proto3" json:"target,omitempty"`
-	// Writable should be set to true if the mount should be writable from the
-	// container.
-	Writable bool `protobuf:"varint,4,opt,name=writable,proto3" json:"writable,omitempty"`
+	// ReadOnly should be set to true if the mount should not be writable.
+	ReadOnly bool `protobuf:"varint,4,opt,name=readonly,proto3" json:"readonly,omitempty"`
 	// BindOptions configures properties of a bind mount type.
 	BindOptions *Mount_BindOptions `protobuf:"bytes,5,opt,name=bind_options,json=bindOptions" json:"bind_options,omitempty"`
 	// VolumeOptions configures the properties specific to a volume mount type.
@@ -669,8 +668,8 @@ func (*Mount_BindOptions) Descriptor() ([]byte, []int) { return fileDescriptorTy
 
 // VolumeOptions contains parameters for mounting the volume.
 type Mount_VolumeOptions struct {
-	// populate volume with data from target
-	Populate bool `protobuf:"varint,1,opt,name=populate,proto3" json:"populate,omitempty"`
+	// nocopy prevents automatic copying of data to the volume with data from target
+	NoCopy bool `protobuf:"varint,1,opt,name=nocopy,proto3" json:"nocopy,omitempty"`
 	// labels to apply to the volume if creating
 	Labels map[string]string `protobuf:"bytes,2,rep,name=labels" json:"labels,omitempty" protobuf_key:"bytes,1,opt,name=key,proto3" protobuf_val:"bytes,2,opt,name=value,proto3"`
 	// DriverConfig specifies the options that may be passed to the driver
@@ -1343,7 +1342,7 @@ func (m *Mount) Copy() *Mount {
 		Type:          m.Type,
 		Source:        m.Source,
 		Target:        m.Target,
-		Writable:      m.Writable,
+		ReadOnly:      m.ReadOnly,
 		BindOptions:   m.BindOptions.Copy(),
 		VolumeOptions: m.VolumeOptions.Copy(),
 	}
@@ -1369,7 +1368,7 @@ func (m *Mount_VolumeOptions) Copy() *Mount_VolumeOptions {
 	}
 
 	o := &Mount_VolumeOptions{
-		Populate:     m.Populate,
+		NoCopy:       m.NoCopy,
 		DriverConfig: m.DriverConfig.Copy(),
 	}
 
@@ -1931,7 +1930,7 @@ func (this *Mount) GoString() string {
 	s = append(s, "Type: "+fmt.Sprintf("%#v", this.Type)+",\n")
 	s = append(s, "Source: "+fmt.Sprintf("%#v", this.Source)+",\n")
 	s = append(s, "Target: "+fmt.Sprintf("%#v", this.Target)+",\n")
-	s = append(s, "Writable: "+fmt.Sprintf("%#v", this.Writable)+",\n")
+	s = append(s, "ReadOnly: "+fmt.Sprintf("%#v", this.ReadOnly)+",\n")
 	if this.BindOptions != nil {
 		s = append(s, "BindOptions: "+fmt.Sprintf("%#v", this.BindOptions)+",\n")
 	}
@@ -1957,7 +1956,7 @@ func (this *Mount_VolumeOptions) GoString() string {
 	}
 	s := make([]string, 0, 7)
 	s = append(s, "&api.Mount_VolumeOptions{")
-	s = append(s, "Populate: "+fmt.Sprintf("%#v", this.Populate)+",\n")
+	s = append(s, "NoCopy: "+fmt.Sprintf("%#v", this.NoCopy)+",\n")
 	keysForLabels := make([]string, 0, len(this.Labels))
 	for k, _ := range this.Labels {
 		keysForLabels = append(keysForLabels, k)
@@ -2775,10 +2774,10 @@ func (m *Mount) MarshalTo(data []byte) (int, error) {
 		i = encodeVarintTypes(data, i, uint64(len(m.Target)))
 		i += copy(data[i:], m.Target)
 	}
-	if m.Writable {
+	if m.ReadOnly {
 		data[i] = 0x20
 		i++
-		if m.Writable {
+		if m.ReadOnly {
 			data[i] = 1
 		} else {
 			data[i] = 0
@@ -2846,10 +2845,10 @@ func (m *Mount_VolumeOptions) MarshalTo(data []byte) (int, error) {
 	_ = i
 	var l int
 	_ = l
-	if m.Populate {
+	if m.NoCopy {
 		data[i] = 0x8
 		i++
-		if m.Populate {
+		if m.NoCopy {
 			data[i] = 1
 		} else {
 			data[i] = 0
@@ -4028,7 +4027,7 @@ func (m *Mount) Size() (n int) {
 	if l > 0 {
 		n += 1 + l + sovTypes(uint64(l))
 	}
-	if m.Writable {
+	if m.ReadOnly {
 		n += 2
 	}
 	if m.BindOptions != nil {
@@ -4054,7 +4053,7 @@ func (m *Mount_BindOptions) Size() (n int) {
 func (m *Mount_VolumeOptions) Size() (n int) {
 	var l int
 	_ = l
-	if m.Populate {
+	if m.NoCopy {
 		n += 2
 	}
 	if len(m.Labels) > 0 {
@@ -4649,7 +4648,7 @@ func (this *Mount) String() string {
 		`Type:` + fmt.Sprintf("%v", this.Type) + `,`,
 		`Source:` + fmt.Sprintf("%v", this.Source) + `,`,
 		`Target:` + fmt.Sprintf("%v", this.Target) + `,`,
-		`Writable:` + fmt.Sprintf("%v", this.Writable) + `,`,
+		`ReadOnly:` + fmt.Sprintf("%v", this.ReadOnly) + `,`,
 		`BindOptions:` + strings.Replace(fmt.Sprintf("%v", this.BindOptions), "Mount_BindOptions", "Mount_BindOptions", 1) + `,`,
 		`VolumeOptions:` + strings.Replace(fmt.Sprintf("%v", this.VolumeOptions), "Mount_VolumeOptions", "Mount_VolumeOptions", 1) + `,`,
 		`}`,
@@ -4681,7 +4680,7 @@ func (this *Mount_VolumeOptions) String() string {
 	}
 	mapStringForLabels += "}"
 	s := strings.Join([]string{`&Mount_VolumeOptions{`,
-		`Populate:` + fmt.Sprintf("%v", this.Populate) + `,`,
+		`NoCopy:` + fmt.Sprintf("%v", this.NoCopy) + `,`,
 		`Labels:` + mapStringForLabels + `,`,
 		`DriverConfig:` + strings.Replace(fmt.Sprintf("%v", this.DriverConfig), "Driver", "Driver", 1) + `,`,
 		`}`,
@@ -6501,7 +6500,7 @@ func (m *Mount) Unmarshal(data []byte) error {
 			iNdEx = postIndex
 		case 4:
 			if wireType != 0 {
-				return fmt.Errorf("proto: wrong wireType = %d for field Writable", wireType)
+				return fmt.Errorf("proto: wrong wireType = %d for field ReadOnly", wireType)
 			}
 			var v int
 			for shift := uint(0); ; shift += 7 {
@@ -6518,7 +6517,7 @@ func (m *Mount) Unmarshal(data []byte) error {
 					break
 				}
 			}
-			m.Writable = bool(v != 0)
+			m.ReadOnly = bool(v != 0)
 		case 5:
 			if wireType != 2 {
 				return fmt.Errorf("proto: wrong wireType = %d for field BindOptions", wireType)
@@ -6706,7 +6705,7 @@ func (m *Mount_VolumeOptions) Unmarshal(data []byte) error {
 		switch fieldNum {
 		case 1:
 			if wireType != 0 {
-				return fmt.Errorf("proto: wrong wireType = %d for field Populate", wireType)
+				return fmt.Errorf("proto: wrong wireType = %d for field NoCopy", wireType)
 			}
 			var v int
 			for shift := uint(0); ; shift += 7 {
@@ -6723,7 +6722,7 @@ func (m *Mount_VolumeOptions) Unmarshal(data []byte) error {
 					break
 				}
 			}
-			m.Populate = bool(v != 0)
+			m.NoCopy = bool(v != 0)
 		case 2:
 			if wireType != 2 {
 				return fmt.Errorf("proto: wrong wireType = %d for field Labels", wireType)
@@ -10200,195 +10199,196 @@ var (
 )
 
 var fileDescriptorTypes = []byte{
-	// 3030 bytes of a gzipped FileDescriptorProto
+	// 3043 bytes of a gzipped FileDescriptorProto
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+	0x66, 0xf1, 0x4d, 0xe6, 0xa8, 0x0c, 0x47, 0x15, 0x15, 0x11, 0x41, 0xfa, 0x37, 0x49, 0xbe, 0xe3,
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+	0x3e, 0x83, 0xbe, 0x2d, 0x8a, 0x98, 0x08, 0x60, 0xc0, 0xa5, 0xc5, 0x43, 0xef, 0x6b, 0xfa, 0xa4,
+	0x88, 0xb9, 0x2f, 0x7b, 0xf8, 0x08, 0xa5, 0x2a, 0x98, 0xe7, 0x48, 0xce, 0xe8, 0x76, 0x9b, 0xb7,
+	0x5b, 0xa0, 0xe9, 0x41, 0xa2, 0xfc, 0x14, 0x80, 0x2e, 0x4c, 0x54, 0x41, 0xf2, 0x3d, 0x72, 0x41,
+	0x13, 0xa2, 0x6a, 0xb5, 0x46, 0x07, 0xe7, 0xbb, 0x9f, 0x9c, 0x47, 0xf1, 0xd4, 0xcd, 0x1f, 0xc6,
+	0xf2, 0x1d, 0xda, 0xe8, 0x18, 0x14, 0x67, 0x7c, 0x90, 0x9c, 0x5b, 0x57, 0xc7, 0x67, 0xd0, 0xd5,
+	0xe3, 0x9c, 0xeb, 0xea, 0x4d, 0xf7, 0x7e, 0xaa, 0xac, 0x01, 0x66, 0x79, 0xd2, 0xb8, 0xc2, 0xfe,
+	0x8e, 0x71, 0xb6, 0xee, 0xae, 0x41, 0x77, 0xb9, 0x9a, 0xd4, 0xdc, 0x6c, 0x5d, 0x7c, 0x4e, 0x40,
+	0x2d, 0x60, 0x1d, 0xdd, 0x6b, 0xb5, 0xb8, 0x75, 0xe9, 0x39, 0xeb, 0xe8, 0xc8, 0x75, 0x11, 0x73,
+	0x1d, 0x52, 0x58, 0x7b, 0xa7, 0xb3, 0xdd, 0xd8, 0x6d, 0x94, 0x1e, 0xa4, 0xe7, 0x16, 0x54, 0xf3,
+	0x06, 0x43, 0x87, 0x85, 0xc2, 0xbc, 0xee, 0xd6, 0xde, 0x2e, 0x7f, 0x72, 0xbe, 0x9f, 0x99, 0x9f,
+	0xf0, 0x78, 0x14, 0xf6, 0xb1, 0x6c, 0xbc, 0x16, 0xd5, 0x71, 0x0f, 0x32, 0x22, 0x65, 0x46, 0x18,
+	0x51, 0xc4, 0xa1, 0x1e, 0xda, 0xf8, 0xbe, 0x78, 0x9d, 0xbe, 0x9f, 0x9d, 0xd3, 0x43, 0xd9, 0xbb,
+	0x10, 0x05, 0xa1, 0xd4, 0x8b, 0x9e, 0xa4, 0x22, 0xd6, 0x8b, 0x3f, 0x22, 0x39, 0x15, 0x30, 0x60,
+	0x77, 0xb2, 0x77, 0xdb, 0xf4, 0x4e, 0x83, 0xc2, 0xd1, 0xf3, 0xdd, 0x51, 0x9c, 0xbb, 0x9e, 0x0f,
+	0xde, 0x05, 0xcb, 0x58, 0xdc, 0x31, 0x5a, 0xc6, 0x6d, 0x00, 0xc8, 0x37, 0x2f, 0x05, 0x90, 0x5e,
+	0x5f, 0x2e, 0xc9, 0x09, 0x22, 0x9d, 0xd5, 0xb5, 0x87, 0x9f, 0xac, 0x2f, 0x7c, 0x04, 0xbf, 0x7f,
+	0x7d, 0xb2, 0x9e, 0xb8, 0xff, 0xe9, 0x7a, 0xe2, 0x21, 0xfc, 0xfe, 0x0c, 0xbf, 0xbf, 0xc3, 0xef,
+	0x20, 0xcb, 0xeb, 0x97, 0xd7, 0xfe, 0x17, 0x00, 0x00, 0xff, 0xff, 0x61, 0x4f, 0x38, 0x13, 0x5f,
+	0x1d, 0x00, 0x00,
 }
diff --git a/vendor/src/github.com/docker/swarmkit/api/types.proto b/vendor/src/github.com/docker/swarmkit/api/types.proto
index 487a02a7d7..b673b2dbe8 100644
--- a/vendor/src/github.com/docker/swarmkit/api/types.proto
+++ b/vendor/src/github.com/docker/swarmkit/api/types.proto
@@ -150,9 +150,8 @@ message Mount {
 	// Target path in container
 	string target = 3;
 
-	// Writable should be set to true if the mount should be writable from the
-	// container.
-	bool writable = 4;
+	// ReadOnly should be set to true if the mount should not be writable.
+	bool readonly = 4 [(gogoproto.customname) = "ReadOnly"];
 
 	// BindOptions specifies options that are specific to a bind mount.
 	message BindOptions {
@@ -174,8 +173,8 @@ message Mount {
 
 	// VolumeOptions contains parameters for mounting the volume.
 	message VolumeOptions {
-		// populate volume with data from target
-		bool populate = 1;
+		// nocopy prevents automatic copying of data to the volume with data from target
+		bool nocopy = 1 [(gogoproto.customname) = "NoCopy"];
 
 		// labels to apply to the volume if creating
 		map<string, string> labels = 2;
diff --git a/vendor/src/github.com/docker/swarmkit/manager/scheduler/constraint.go b/vendor/src/github.com/docker/swarmkit/manager/scheduler/constraint.go
index b1b6d31aa3..066f195329 100644
--- a/vendor/src/github.com/docker/swarmkit/manager/scheduler/constraint.go
+++ b/vendor/src/github.com/docker/swarmkit/manager/scheduler/constraint.go
@@ -6,6 +6,11 @@ import (
 	"github.com/docker/swarmkit/api"
 )
 
+const (
+	nodeLabelPrefix   = "node.labels."
+	engineLabelPrefix = "engine.labels."
+)
+
 // ConstraintFilter selects only nodes that match certain labels.
 type ConstraintFilter struct {
 	constraints []Expr
@@ -26,12 +31,12 @@ func (f *ConstraintFilter) SetTask(t *api.Task) bool {
 // Check returns true if the task's constraint is supported by the given node.
 func (f *ConstraintFilter) Check(n *NodeInfo) bool {
 	for _, constraint := range f.constraints {
-		switch constraint.Key {
-		case "node.id":
+		switch {
+		case strings.EqualFold(constraint.Key, "node.id"):
 			if !constraint.Match(n.ID) {
 				return false
 			}
-		case "node.name":
+		case strings.EqualFold(constraint.Key, "node.hostname"):
 			// if this node doesn't have hostname
 			// it's equivalent to match an empty hostname
 			// where '==' would fail, '!=' matches
@@ -44,29 +49,42 @@ func (f *ConstraintFilter) Check(n *NodeInfo) bool {
 			if !constraint.Match(n.Description.Hostname) {
 				return false
 			}
-		default:
-			// default is node label in form like 'node.labels.key==value'
-			// if it is not well formed, always fails it
-			if !strings.HasPrefix(constraint.Key, "node.labels.") {
+		case strings.EqualFold(constraint.Key, "node.role"):
+			if !constraint.Match(n.Spec.Role.String()) {
 				return false
 			}
-			// if the node doesn't have any label,
-			// it's equivalent to match an empty value.
-			// that is, 'node.labels.key!=value' should pass and
-			// 'node.labels.key==value' should fail
+
+		// node labels constraint in form like 'node.labels.key==value'
+		case len(constraint.Key) > len(nodeLabelPrefix) && strings.EqualFold(constraint.Key[:len(nodeLabelPrefix)], nodeLabelPrefix):
 			if n.Spec.Annotations.Labels == nil {
 				if !constraint.Match("") {
 					return false
 				}
 				continue
 			}
-			label := constraint.Key[len("node.labels."):]
-			// if the node doesn't have this specific label,
-			// val is an empty string
+			label := constraint.Key[len(nodeLabelPrefix):]
+			// label itself is case sensitive
 			val := n.Spec.Annotations.Labels[label]
 			if !constraint.Match(val) {
 				return false
 			}
+
+		// engine labels constraint in form like 'engine.labels.key!=value'
+		case len(constraint.Key) > len(engineLabelPrefix) && strings.EqualFold(constraint.Key[:len(engineLabelPrefix)], engineLabelPrefix):
+			if n.Description == nil || n.Description.Engine == nil || n.Description.Engine.Labels == nil {
+				if !constraint.Match("") {
+					return false
+				}
+				continue
+			}
+			label := constraint.Key[len(engineLabelPrefix):]
+			val := n.Description.Engine.Labels[label]
+			if !constraint.Match(val) {
+				return false
+			}
+		default:
+			// key doesn't match predefined syntax
+			return false
 		}
 	}
 
diff --git a/vendor/src/github.com/docker/swarmkit/manager/scheduler/expr.go b/vendor/src/github.com/docker/swarmkit/manager/scheduler/expr.go
index eda9f36531..5a6697117c 100644
--- a/vendor/src/github.com/docker/swarmkit/manager/scheduler/expr.go
+++ b/vendor/src/github.com/docker/swarmkit/manager/scheduler/expr.go
@@ -78,7 +78,8 @@ func (e *Expr) Match(whats ...string) bool {
 
 	// full string match
 	for _, what := range whats {
-		if e.exp == what {
+		// case insensitive compare
+		if strings.EqualFold(e.exp, what) {
 			match = true
 			break
 		}
diff --git a/vendor/src/github.com/docker/swarmkit/manager/scheduler/indexed_node_heap.go b/vendor/src/github.com/docker/swarmkit/manager/scheduler/indexed_node_heap.go
index 8732595e38..0cc5c0b37b 100644
--- a/vendor/src/github.com/docker/swarmkit/manager/scheduler/indexed_node_heap.go
+++ b/vendor/src/github.com/docker/swarmkit/manager/scheduler/indexed_node_heap.go
@@ -2,10 +2,13 @@ package scheduler
 
 import (
 	"container/heap"
+	"errors"
 
 	"github.com/docker/swarmkit/api"
 )
 
+var errNodeNotFound = errors.New("node not found in scheduler heap")
+
 // A nodeHeap implements heap.Interface for nodes. It also includes an index
 // by node id.
 type nodeHeap struct {
@@ -49,20 +52,17 @@ func (nh *nodeHeap) alloc(n int) {
 }
 
 // nodeInfo returns the NodeInfo struct for a given node identified by its ID.
-func (nh *nodeHeap) nodeInfo(nodeID string) NodeInfo {
+func (nh *nodeHeap) nodeInfo(nodeID string) (NodeInfo, error) {
 	index, ok := nh.index[nodeID]
 	if ok {
-		return nh.heap[index]
+		return nh.heap[index], nil
 	}
-	return NodeInfo{}
+	return NodeInfo{}, errNodeNotFound
 }
 
 // addOrUpdateNode sets the number of tasks for a given node. It adds the node
 // to the heap if it wasn't already tracked.
 func (nh *nodeHeap) addOrUpdateNode(n NodeInfo) {
-	if n.Node == nil {
-		return
-	}
 	index, ok := nh.index[n.ID]
 	if ok {
 		nh.heap[index] = n
@@ -75,9 +75,6 @@ func (nh *nodeHeap) addOrUpdateNode(n NodeInfo) {
 // updateNode sets the number of tasks for a given node. It ignores the update
 // if the node isn't already tracked in the heap.
 func (nh *nodeHeap) updateNode(n NodeInfo) {
-	if n.Node == nil {
-		return
-	}
 	index, ok := nh.index[n.ID]
 	if ok {
 		nh.heap[index] = n
diff --git a/vendor/src/github.com/docker/swarmkit/manager/scheduler/nodeinfo.go b/vendor/src/github.com/docker/swarmkit/manager/scheduler/nodeinfo.go
index a6e92fa6c3..cc7f9b026e 100644
--- a/vendor/src/github.com/docker/swarmkit/manager/scheduler/nodeinfo.go
+++ b/vendor/src/github.com/docker/swarmkit/manager/scheduler/nodeinfo.go
@@ -23,7 +23,7 @@ func newNodeInfo(n *api.Node, tasks map[string]*api.Task, availableResources api
 }
 
 func (nodeInfo *NodeInfo) removeTask(t *api.Task) bool {
-	if nodeInfo.Tasks == nil || nodeInfo.Node == nil {
+	if nodeInfo.Tasks == nil {
 		return false
 	}
 	if _, ok := nodeInfo.Tasks[t.ID]; !ok {
@@ -39,9 +39,6 @@ func (nodeInfo *NodeInfo) removeTask(t *api.Task) bool {
 }
 
 func (nodeInfo *NodeInfo) addTask(t *api.Task) bool {
-	if nodeInfo.Node == nil {
-		return false
-	}
 	if nodeInfo.Tasks == nil {
 		nodeInfo.Tasks = make(map[string]*api.Task)
 	}
diff --git a/vendor/src/github.com/docker/swarmkit/manager/scheduler/scheduler.go b/vendor/src/github.com/docker/swarmkit/manager/scheduler/scheduler.go
index 6a57d4898b..e03c8a3360 100644
--- a/vendor/src/github.com/docker/swarmkit/manager/scheduler/scheduler.go
+++ b/vendor/src/github.com/docker/swarmkit/manager/scheduler/scheduler.go
@@ -177,8 +177,8 @@ func (s *Scheduler) createTask(ctx context.Context, t *api.Task) int {
 		return 0
 	}
 
-	nodeInfo := s.nodeHeap.nodeInfo(t.NodeID)
-	if nodeInfo.addTask(t) {
+	nodeInfo, err := s.nodeHeap.nodeInfo(t.NodeID)
+	if err == nil && nodeInfo.addTask(t) {
 		s.nodeHeap.updateNode(nodeInfo)
 	}
 
@@ -224,8 +224,8 @@ func (s *Scheduler) updateTask(ctx context.Context, t *api.Task) int {
 	}
 
 	s.allTasks[t.ID] = t
-	nodeInfo := s.nodeHeap.nodeInfo(t.NodeID)
-	if nodeInfo.addTask(t) {
+	nodeInfo, err := s.nodeHeap.nodeInfo(t.NodeID)
+	if err == nil && nodeInfo.addTask(t) {
 		s.nodeHeap.updateNode(nodeInfo)
 	}
 
@@ -235,14 +235,14 @@ func (s *Scheduler) updateTask(ctx context.Context, t *api.Task) int {
 func (s *Scheduler) deleteTask(ctx context.Context, t *api.Task) {
 	delete(s.allTasks, t.ID)
 	delete(s.preassignedTasks, t.ID)
-	nodeInfo := s.nodeHeap.nodeInfo(t.NodeID)
-	if nodeInfo.removeTask(t) {
+	nodeInfo, err := s.nodeHeap.nodeInfo(t.NodeID)
+	if err == nil && nodeInfo.removeTask(t) {
 		s.nodeHeap.updateNode(nodeInfo)
 	}
 }
 
 func (s *Scheduler) createOrUpdateNode(n *api.Node) {
-	nodeInfo := s.nodeHeap.nodeInfo(n.ID)
+	nodeInfo, _ := s.nodeHeap.nodeInfo(n.ID)
 	var resources api.Resources
 	if n.Description != nil && n.Description.Resources != nil {
 		resources = *n.Description.Resources
@@ -275,9 +275,10 @@ func (s *Scheduler) processPreassignedTasks(ctx context.Context) {
 	}
 	for _, decision := range failed {
 		s.allTasks[decision.old.ID] = decision.old
-		nodeInfo := s.nodeHeap.nodeInfo(decision.new.NodeID)
-		nodeInfo.removeTask(decision.new)
-		s.nodeHeap.updateNode(nodeInfo)
+		nodeInfo, err := s.nodeHeap.nodeInfo(decision.new.NodeID)
+		if err == nil && nodeInfo.removeTask(decision.new) {
+			s.nodeHeap.updateNode(nodeInfo)
+		}
 	}
 }
 
@@ -309,9 +310,10 @@ func (s *Scheduler) tick(ctx context.Context) {
 	for _, decision := range failed {
 		s.allTasks[decision.old.ID] = decision.old
 
-		nodeInfo := s.nodeHeap.nodeInfo(decision.new.NodeID)
-		nodeInfo.removeTask(decision.new)
-		s.nodeHeap.updateNode(nodeInfo)
+		nodeInfo, err := s.nodeHeap.nodeInfo(decision.new.NodeID)
+		if err == nil && nodeInfo.removeTask(decision.new) {
+			s.nodeHeap.updateNode(nodeInfo)
+		}
 
 		// enqueue task for next scheduling attempt
 		s.enqueue(decision.old)
@@ -368,7 +370,11 @@ func (s *Scheduler) applySchedulingDecisions(ctx context.Context, schedulingDeci
 
 // taskFitNode checks if a node has enough resource to accommodate a task
 func (s *Scheduler) taskFitNode(ctx context.Context, t *api.Task, nodeID string) *api.Task {
-	nodeInfo := s.nodeHeap.nodeInfo(nodeID)
+	nodeInfo, err := s.nodeHeap.nodeInfo(nodeID)
+	if err != nil {
+		// node does not exist in heap (it may have been deleted)
+		return nil
+	}
 	s.pipeline.SetTask(t)
 	if !s.pipeline.Process(&nodeInfo) {
 		// this node cannot accommodate this task
@@ -407,8 +413,8 @@ func (s *Scheduler) scheduleTask(ctx context.Context, t *api.Task) *api.Task {
 	}
 	s.allTasks[t.ID] = &newT
 
-	nodeInfo := s.nodeHeap.nodeInfo(n.ID)
-	if nodeInfo.addTask(&newT) {
+	nodeInfo, err := s.nodeHeap.nodeInfo(n.ID)
+	if err == nil && nodeInfo.addTask(&newT) {
 		s.nodeHeap.updateNode(nodeInfo)
 	}
 	return &newT