Can iPhone apps start on start-up?

I've answered two different questions now, both explaining how VOIP apps don't start on start-up, yet people seem to think they do.

I'm not 100% sure myself, someone linked me to a part of the apple docs, which doesn't really mention anything about auto-starting of apps.

I was originally going on prior knowledge and this answer, but after another person saying that they do, I'm really not sure.

As far as I'm aware, apps only react to push notifications, and can't be launched into the background when a device is turned on.

Can we please clarify whether it is possible to auto-start an app or not?

Take a look at the UIBackgroundModes section in this document - it seems to state that adding the voip key will autostart an app on boot.

Edit: a sample app seems to confirm this behavior.

I confirm that setting VOIP mode works. However, I've found that the app won't restart after power up unless it was running when the device was powered off. Furthermore, the app won't actually restart on the recently powered up device until the device is unlocked after power up.