"Process Supervision: Solved Problem" [0] is a great rundown too (from one of the Chef Opscode guys). His recommendation is to use runit (based on djb's daemontools). He recommends against using Bluepill, God, Foreman, supervisor and others. [0] http://jtimberman.housepub.org/blog/2012/12/29/process-super...
However, I also think you'll be happy with Upstart or Systemd, even if you find them over-engineered and inelegant. They'll do what they need to with minimal configuration, and you're probably already using one of them behind the scenes. Why not use one of them, if you have it sitting right there, already installed and configured?