Bootloader
- See if a key is pressed (Fastboot / Recovery / Normal)
- Kernel (usually with an initrd) is loaded into RAM, generally from the boot partition
Kernel
- Core kernel initialization
  - Memory and I/O areas are setup
  - Interrupts are started
  - Process Table is initialized
- Driver initialization
- Kernel daemons (threads) are started
- Root filesystem is mounted
- The first user-space process is started (/init)
init
- Reads and processes init.rc and init.<machine>.rc
- Dalvik / ART VM is started (Zygote)
- Several daemons are started
  - rild (Radio Interface Link Daemon)
  - vold (Volume Daemon - media volumes, not audio)
- system_server starts
System Server
- Initializes several core services
  - A library is loaded to initialize interfaces to native services
  - Then Java-based core services are initialilzed in ServerThread::run() in SystemServer.java
The Activity Manager starts core applications (which are Dalvik applications)
- com.android.phone - Phone app
- android.process.acore - System UI and a few core apps
Other processes are also started by /init
- adb
- mediaserver
- dbus-daemon
- akmd

Left-click: follow link, Right-click: select node, Scroll: zoom