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We present the notion of stateful priorities for imposing precise restrictions on system actions, in order to meet safety constraints. By using stateful priorities we are able to exclusively restrict erroneous system behavior as specified by the constraint, whereas safe system behavior remains unrestricted. Given a system modeled as a network of discrete automata and an error constraint, we present algorithms which use those inputs to synthesize stateful priorities. We present as well a networkarXiv:2002.08646v1 fatcat:4dyzvhlv3ngyhfkhvub4blqfcm