Is It Possible to Predict Asteroids?

I think about those cataclysmic events quite a bit. To know that these rocks are out there and if one of them falls into the gravity well of the earth, it could end all life on earth or some lives on earth. It certainly would not be a good day. We don't know when NASA is doing its best to track these asteroids. But beyond that, we wonder, like, is it possible to predict these events far in the future?