although i consider pc88mxer's suggestion the most elegant, maybe even a small shell script can serve the purpose:

#!/bin/bash
for $PROC in daemon1 daemon2 daemon3 ...; do 
    PID=$(ps aux | grep $PROC | awk '{print $2}')
    if [ $PID = '' ]; then 
        $PROC &&; 
    fi 
done
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