1) Use systemd; I've taken the time to learn it and the tooling it exposes for codifying process dependencies, how weak or strong they should be, and restart behaviors is thoroughly designed
2) Use Erlang/OTP - I went this route for an IoT product I worked on that used Erlang as the primary high-level "firmware", I codified the process tree and dependencies and custom supervisor restart behaviors for unix processes into Erlang/OTP's supervision tree; using Erlang process ports
The second approach has worked extremely well for me in the past but I would only recommend it if you're going to use a lot of Erlang to process output from the programs it spawns for you, which was the case for how I was using it at the time, the robust supervision of the processes it managed in a supervision tree was incidental to the primary use but extremely robust.