Task migration has been applied as an efficient mechanism to handle faulty processing elements (PEs) in Multi-processor Systems-on-Chip (MPSoCs). However, current task migration solutions are either implemented or emulated in software, compromising intrinsically the predictability and degrading the system robustness. Moreover, the initial placement and mapping of the tasks in the MPSoC plays an important role in minimising the task migration overhead and overall system energy. This paper proposes a hardware-based task migration scheme for MPSoC systems, offering better predictability as well as an improved method of fault tolerance. The proposed scheme intelligently generates an initial placement for the tasks with improved fault tolerance and stores these mappings on a hash map, which is looked up at run-time as and when faults occur. Compared with the state-of-the-art, our scheme performs up to 1500× faster task migration without any significant overheads.