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Machine Learning (ML) workloads are increasingly deployed at the edge. Enabling efficient inference execution while considering model and system heterogeneity remains challenging, especially for ML tasks built with a network of deep neural networks (DNNs). The challenge is to maximize the utilization of all available resources on the multiprocessor system on a chip (MPSoC) at the same time. This becomes even more complicated because the optimal mapping for the network of DNNs can vary with input batch sizes and scene complexity. In this paper, a holistic hierarchical scheduling framework is presented to optimize the execution time for a network of DNN models on an edge MPSoC at runtime, considering varying input characteristics. The framework consists of a local and a global scheduler. The local scheduler maps individual DNNs in the inference pipeline to the best-performing hardware unit while the global scheduler customizes an Integer Linear Programming (ILP) solution to instantiate DNN remapping. To minimize scheduler runtime overhead, an imitation learning (IL) based scheduler is used that approximates the ILP solutions. The proposed scheduling framework (CAMDNN) was implemented on a Qualcomm Robotic RB5 platform. CAMDNN resulted in lower execution time of up to 32% than heterogeneous earliest finish time, and by factors of 6.67X, 5.6X and 2.17X than the CPU-only, GPU-only and Central Queue schedulers. [ABSTRACT FROM AUTHOR]