Utilitarianism, as described by philosophers such as Bentham, Mill, and Singer, is roughly the idea that morality should be based purely on what causes the greatest happiness for the greatest number of people. In his novel, Notes From the Underground, Dostoyevsky made a strong objection to this style of ethics, imploring us to imagine a world where Utilitarianism as a project was finished. The perfect world was created and it was known what would make us the most happy. He said at this point, the human would rebel, and reject the system. He claimed that if there was a single value that was held most high - human freedom, then no moral system could be perfect, because it would rob us of that freedom. He claimed that if happiness was indeed the ultimate goal of life, then all of human history has been a mistake. That is to say, if you observe individual humans in history, they have seldom sought out happiness for themselves. They have instead sought out only what they sought out. What they desired was merely what they desired, and often it had nothing to do with happiness, be it art, ambition, conquest, to have children, or merely spite - what they wanted to do was what they wanted to do, and the further explanation of their desire making them "happy" was superfluous, and unrelated to what their desire to be free.