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A numerical method is proposed for the constraint of the state of a dynamical system such that it cannot enter a predefined failure region. The proposed approach to this viability problem involves an explicit numerical approximation of a viability envelope, coupled with a practical strategy for enforcing containment that is based upon a predictive look-ahead strategy. The approach can be applied to achieve automated "intervention when necessary" to enforce system safety at interactive rates.doi:10.1109/robot.2004.1302392 dblp:conf/icra/KalisiakP04 fatcat:orn7j3kjxjcxfiwrmz65gmndmi