Abstract: A method for controlled tumoricidal radiation dose delivery is disclosed. The method includes obtaining an image of a body organ; diving the image into a plurality of voxels; determining a set of feasible actions for the body organ by identifying an upper bound and a lower bound for the body organ; determining a utility function for the body organ; determining a disagreement point by identifying an ideal fluency map and a worst fluency map; determining a negotiation power weight based on a type of the body organ; and optimizing the plurality of radiation dose levels to the plurality of voxels based on the set of feasible actions, the utility function, the disagreement point, and the negotiation power weight. Other aspects, embodiments, and features are also claimed and described.