Goal: To solve a viability problem over a finite horizon T, using a time-recursive approach.
Input: Ensemble de contraintes K, dynamique F, horizon T
Output: Ensemble Viab_T
1. Viab_T := K
2. For t = T-1 downto 0:
a. Viab_t := { x ∈ K | ∃ u ∈ F(x) tel que u ∈ Viab_{t+1} }
3. Return Viab_0