Java process manager

I made an app that use 6 process. There is no option for me to reduce this number.

I used to start those processed from java with some module I build around:

Runtime.getRuntime().exec() 

But it created a lot of troubles with errors handling. Terminating a process is not trivial.

So I moved to command line, and I wrote a batch script to start 6 command prompt(Windows consul window), now closing those also kill the process, so error handling become easier.

But it look very bad... Messy...

I guess this is not a common way to work, so my question is what is? How to manage multiple java processes with the next behaviors:

• Process can crash
• Optionally there is a dependency between processes, so if process A is terminated/crash, process B should be terminated as well, it's optional as it's easier for me to manage it this way, but I can code around it, so it's not mandatory.
• Process can be force stopped with some timeout if it fails to complete it's task.