In intelligent integrated systems such as robotics for autonomous work, it is essential to respond to the change of the environment very quickly. Therefore, the development of special-purpose VLSI processors with minimum delay time becomes a very important subject. A suitable combination of spatially parallel and temporally parallel processing is very important to realize the minimum delay time. In this article, we present a scheduling algorithm for high-level synthesis, where the input to the scheduler is a behavioral description viewed as a data flow graph. The scheduler minimizes the delay time under the constraint of a silicon area and I/O pins.