This work proposes a Multi-Constraint Resource Allocation (MuCoRA) method for applications from multiple domains onto multi-processors. In particular, we address a mapping problem for multiple throughput-constrained streaming applications and multiple latency-constrained feedback control applications onto a multi-processor platform running under a Time-Division Multiple-Access (TDMA) policy. The main objective of the proposed method is to reduce resource usage while meeting constraints from both these two domains (i.e., throughput and latency constraints). We show by experiments that the overall resource usage for this mapping problem can be reduced by distributing the allocated resource (i.e., TDMA slots) to the control applications over the TDMA wheel instead of allocating consecutive slots.