Multiprocessor SoC systems have led to the increasing use of parallel hardware along with the associated software. These approaches have included coprocessor, homogeneous processor (e.g. SMP) and application specific architectures (i.e. DSP, ASIC). ASIPs have emerged as a viable alternative to conventional processing entities (PEs) due to its configurability and programmability. In this work, we introduce a heterogeneous multi-processor system using ASIPs as processing entities in a pipeline configuration. A streaming application is taken and manually broken into a series of algorithmic stages (each of which make up a stage in a pipeline). We formulate the problem of mapping each algorithmic stage in the system to an ASIP configuration, and propose a heuristic to efficiently search the design space for a pipeline-based multi ASIP system.