I solved the issue, the crude way: wrote a shell script that starts a worker by passing its designated number to it via environment variables. Below is a snippet, if anyone's looking for a similar solution:
#!/bin/bash
for i in $(seq 1 "$1"); do
env WORKER_NUM=$i rake QUEUES=queue1 backburner:work > logs/backburner.log 2>&1 &
done
The rake task becomes available by adding require 'backburner/tasks'
to the Rakefile, as explained in the Backburner documentation.