Here's how I've worked it out:
tasklist /FI "IMAGENAME eq notepad.exe" /FO CSV > search.log
FOR /F %%A IN (search.log) DO IF %%~zA EQU 0 GOTO end
start notepad.exe
:end
del search.log
The above will open Notepad if it is not already running.
Edit: Note that this won't find applications hidden from the tasklist. This will include any scheduled tasks running as a different user, as these are automatically hidden.