A multi-process scheduler applies a joint optimization criterion to jointly schedule multiple processes executed on a shared processor. The scheduler determines, for each one of a plurality of processes having a predetermined processing time, at least one of an expected arrival time for input data and required delivery time for output data. The scheduler jointly determines process activation times for the processes based on said arrival/delivery, and the processing times, to meet a predetermined joint optimization criterion for the processes. The processes are scheduled on the shared processor according to the jointly determined activation times to minimize queuing delay.