Interesting. I was under the impression that any application marked with the background type "voip" (such as Skype) was started by SpringBoard when it launched.
is the place to start, where they state "If you start this service and your application is subsequently terminated, the system automatically relaunches the application into the background if a new event arrives."
The other required piece of information is that when you reboot the phone, it triggers this event for all applications that have registered this service.