The paper presents an approach to process scheduling for embedded systems. Target architectures consist of several processors and ASICs connected by shared busses. We have developed algorithms for process graph scheduling based on list-scheduling and branch-and-bound strategies. One essential contribution is in the manner in which information on process allocation is used in order to efficiently derive a good quality or optimal schedule. Experiments show the superiority of these algorithms compared to previous approaches like critical-path heuristics and ILP based optimal scheduling. An extension of our approach allows the scheduling of conditional process graphs capturing both data and control flow. In this case a schedule table has to be generated so that the worst case delay is minimized.