This is a class of problems known as scheduling. The Wikipedia page is a good place to start [0]. It focuses on task schedulers rather than message queues, but the same principles apply. For a deeper theoretical basis, Wiley has a good book [1]. Most undergrad curricula will have a module on this as well, so you can find info in most comp sci textbooks.

[0] https://en.m.wikipedia.org/wiki/Scheduling_(computing)

[1] https://onlinelibrary.wiley.com/doi/book/10.1002/97811189844...