Windows task scheduler with conditional rules/hierarchies

Is there a Windows task scheduler that can allow certain tasks to be run or delayed based on the status of other tasks? For example: Run A every half hour, and run B 5 minutes after A completes. Or run C every hour, but if A is still running then wait for A to complete before running C. Ideally something that would also alert when a dependent task is delayed, so the timing can be tweaked until there is minimal conflicts.