resampling - What is an algorithm to re-sample from a variable rate to a fixed rate?

I have a sensor that reports its readings with a time stamp and a value. However, it does not generate readings at a fixed rate.

I find the variable rate data difficult to deal with. Most filters expect a fixed sample rate. Drawing graphs is easier with a fixed sample rate as well.

Is there an algorithm to resample from a variable sample rate to a fixed sample rate?