I don't like Upstart, I don't agree that it's "admirably simple to use", it needlessly complex. For what I do, I don't need or want to care about runlevels, I always want respawning and I don't like the syntax of the configuration.
systemd seems like a really complex solution to a very simple problem, but I never used it.
Supervisord while being well documented and popular again seems to complicate what I want to do. Again I dislike the configuration, I fail to see why a shell script isn't better.
Runit I never used, because why would I replace daemon-tools with, what was when I first read about it, just a daemon-tools clone, made by people who didn't like Bernsteins licensing. I guess it's what I would most likely go for, if daemon-tools where not available.
The rest I never heard of.