diff --git a/python/ray/tests/test_placement_group.py b/python/ray/tests/test_placement_group.py
index 066ff0e75..7c5963f9e 100644
--- a/python/ray/tests/test_placement_group.py
+++ b/python/ray/tests/test_placement_group.py
@@ -14,7 +14,8 @@ from ray.test_utils import (generate_system_config_map, get_other_nodes,
                             get_error_message)
 import ray.cluster_utils
 from ray._raylet import PlacementGroupID
-from ray.util.placement_group import (PlacementGroup,
+from ray.util.placement_group import (PlacementGroup, placement_group,
+                                      remove_placement_group,
                                       get_current_placement_group)
 
 
@@ -1288,5 +1289,26 @@ def test_placement_group_wait_api(ray_start_cluster_head):
         placement_group1.wait(10)
 
 
+def test_schedule_placement_groups_at_the_same_time():
+    ray.init(num_cpus=4)
+
+    pgs = [placement_group([{"CPU": 2}]) for _ in range(6)]
+
+    wait_pgs = {pg.ready(): pg for pg in pgs}
+
+    def is_all_placement_group_removed():
+        ready, _ = ray.wait(list(wait_pgs.keys()), timeout=0.5)
+        if ready:
+            ready_pg = wait_pgs[ready[0]]
+            remove_placement_group(ready_pg)
+            del wait_pgs[ready[0]]
+
+        if len(wait_pgs) == 0:
+            return True
+        return False
+
+    wait_for_condition(is_all_placement_group_removed)
+
+
 if __name__ == "__main__":
     sys.exit(pytest.main(["-v", __file__]))
diff --git a/src/ray/raylet/scheduling/cluster_resource_scheduler.cc b/src/ray/raylet/scheduling/cluster_resource_scheduler.cc
index 5e60c453a..90cf552cf 100644
--- a/src/ray/raylet/scheduling/cluster_resource_scheduler.cc
+++ b/src/ray/raylet/scheduling/cluster_resource_scheduler.cc
@@ -174,6 +174,10 @@ int64_t ClusterResourceScheduler::GetBestSchedulableNode(const TaskRequest &task
                                                          bool actor_creation,
                                                          int64_t *total_violations,
                                                          bool *is_infeasible) {
+  // NOTE: We need to set `is_infeasible` to false in advance to avoid `is_infeasible` not
+  // being set.
+  *is_infeasible = false;
+
   // Minimum number of soft violations across all nodes that can schedule the request.
   // We will pick the node with the smallest number of soft violations.
   int64_t min_violations = INT_MAX;