diff --git a/software/raspberry/superviseur-robot/tasks.cpp b/software/raspberry/superviseur-robot/tasks.cpp
index 4d469f1..8cdc3df 100644
--- a/software/raspberry/superviseur-robot/tasks.cpp
+++ b/software/raspberry/superviseur-robot/tasks.cpp
@@ -285,32 +285,53 @@ void Tasks::ReceiveFromMonTask(void *arg) {
     /**************************************************************************************/
     /* The task receiveFromMon starts here                                                */
     /**************************************************************************************/
+    while(1){
     rt_sem_p(&sem_serverOk, TM_INFINITE);
     cout << "Received message from monitor activated" << endl << flush;
 
-    while (1) {
-        msgRcv = monitor.Read();
-        cout << "Rcv <= " << msgRcv->ToString() << endl << flush;
+        while (1) {
+            msgRcv = monitor.Read();
+            cout << "Rcv <= " << msgRcv->ToString() << endl << flush;
 
-        if (msgRcv->CompareID(MESSAGE_MONITOR_LOST)) {
-            delete(msgRcv);
-            exit(-1);
-        } else if (msgRcv->CompareID(MESSAGE_ROBOT_COM_OPEN)) {
-            //rt_sem_v(&sem_openComRobot);
-            WriteInQueue(&q_messageComRobot, msgRcv); 
-        } else if (msgRcv->CompareID(MESSAGE_ROBOT_START_WITHOUT_WD)) {
-            rt_sem_v(&sem_startRobot);
-        } else if (msgRcv->CompareID(MESSAGE_ROBOT_GO_FORWARD) ||
-                msgRcv->CompareID(MESSAGE_ROBOT_GO_BACKWARD) ||
-                msgRcv->CompareID(MESSAGE_ROBOT_GO_LEFT) ||
-                msgRcv->CompareID(MESSAGE_ROBOT_GO_RIGHT) ||
-                msgRcv->CompareID(MESSAGE_ROBOT_STOP)) {
+            if (msgRcv->CompareID(MESSAGE_MONITOR_LOST)) {
+                delete(msgRcv);
+                WriteInQueue(&q_messageComRobot, new Message(MESSAGE_ROBOT_COM_CLOSE));
+                WriteInQueue(&q_messageControlRobot, new Message(MESSAGE_ROBOT_RESET));
+                WriteInQueue(&q_messageControlCam, new Message(MESSAGE_CAM_CLOSE));
+                rt_sem_v(&sem_restartServer, TM_INFINITE);  // A VERIFIER
+                break;
 
-            rt_mutex_acquire(&mutex_move, TM_INFINITE);
-            move = msgRcv->GetID();
-            rt_mutex_release(&mutex_move);
+            } else if (msgRcv->CompareID(MESSAGE_ROBOT_COM_OPEN) || msgRcv->CompareID(MESSAGE_ROBOT_COM_CLOSE)) {
+                WriteInQueue(&q_messageComRobot, msgRcv);
+                //rt_sem_v(&sem_openComRobot);
+            } else if (msgRcv->CompareID(MESSAGE_ROBOT_START_WITHOUT_WD) || msgRcv->CompareID(MESSAGE_ROBOT_START_WITH_WD)) {
+                WriteInQueue(&q_messageControlRobot, msgRcv);
+                //rt_sem_v(&sem_startRobot);
+            } 
+            else if (msgRcv->CompareID(MESSAGE_ROBOT_GO_FORWARD) ||
+                    msgRcv->CompareID(MESSAGE_ROBOT_GO_BACKWARD) ||
+                    msgRcv->CompareID(MESSAGE_ROBOT_GO_LEFT) ||
+                    msgRcv->CompareID(MESSAGE_ROBOT_GO_RIGHT) ||
+                    msgRcv->CompareID(MESSAGE_ROBOT_STOP)) {
+                rt_mutex_acquire(&mutex_move, TM_INFINITE);
+                move = msgRcv->GetID();
+                rt_mutex_release(&mutex_move);
+            }
+
+            else if (msgRcv->CompareID(MESSAGE_CAM_OPEN) || 
+                    msgRcv->CompareID(MESSAGE_CAM_CLOSE) || 
+                    msgRcv->CompareID(MESSAGE_CAM_ASK_ARENA) || 
+                    msgRcv->CompareID(MESSAGE_CAM_ARENA_CONFIRM) || 
+                    msgRcv->CompareID(MESSAGE_CAM_ARENA_INFIRM) || 
+                    msgRcv->CompareID(MESSAGE_CAM_POSITION_COMPUTE_START) || 
+                    msgRcv->CompareID(MESSAGE_CAM_POSITION_COMPUTE_STOP) || 
+                    )
+            {
+                WriteInQueue(&q_messageControlCam, msgRcv);
+            }
+            delete(msgRcv); // mus be deleted manually, no consumer
         }
-        delete(msgRcv); // mus be deleted manually, no consumer
+        
     }
 }
 
@@ -381,23 +402,70 @@ void Tasks::StartRobotTask(void *arg) {
     /**************************************************************************************/
     while (1) {
 
+        Message * tmp;
         Message * msgSend;
-        rt_sem_p(&sem_startRobot, TM_INFINITE);
-        cout << "Start robot without watchdog (";
-        rt_mutex_acquire(&mutex_robot, TM_INFINITE);
-        msgSend = robot.Write(robot.StartWithoutWD());
-        rt_mutex_release(&mutex_robot);
-        cout << msgSend->GetID();
-        cout << ")" << endl;
-
-        cout << "Movement answer: " << msgSend->ToString() << endl << flush;
-        WriteInQueue(&q_messageToMon, msgSend);  // msgSend will be deleted by sendToMon
-
-        if (msgSend->GetID() == MESSAGE_ANSWER_ACK) {
+        tmp = ReadInQueue(&q_messageControlRobot);
+        if (tmp -> CompareID(MESSAGE_ROBOT_START_WITHOUT_WD)){
+            cout << "Start robot without watchdog (";
+            rt_mutex_acquire(&mutex_robot, TM_INFINITE);
+            msgSend = robot.Write(robot.StartWithoutWD());
+            rt_mutex_release(&mutex_robot);
+            cout << msgSend->GetID();
+            cout << ")" << endl;
+            cout << "Movement answer: " << msgSend->ToString() << endl << flush;
+            WriteInQueue(&q_messageToMon, msgSend);  // msgSend will be deleted by sendToMon
+            if (msgSend->GetID() == MESSAGE_ANSWER_ACK) {
+                rt_mutex_acquire(&mutex_robotStarted, TM_INFINITE);
+                robotStarted = 1;
+                rt_mutex_release(&mutex_robotStarted);
+            }
+        } else if (tmp -> CompareID(MESSAGE_ROBOT_START_WITH_WD)){
+            cout << "Start robot with watchdog (";
+            rt_mutex_acquire(&mutex_robot, TM_INFINITE);
+            msgSend = robot.Write(robot.StartWithWD());
+            rt_mutex_release(&mutex_robot);
+            cout << msgSend->GetID();
+            cout << ")" << endl;
+            cout << "Movement answer: " << msgSend->ToString() << endl << flush;
+            WriteInQueue(&q_messageToMon, msgSend);  // msgSend will be deleted by sendToMon
+            if (msgSend->GetID() == MESSAGE_ANSWER_ACK) {
+                rt_mutex_acquire(&mutex_robotStarted, TM_INFINITE);
+                robotStarted = 1;
+                rt_mutex_release(&mutex_robotStarted);
+                rt_task_set_periodic(&th_watchDog,TM_NOW,1000000000);
+            }
+            
+        } else if (tmp -> CompareID(MESSAGE_ROBOT_RESET)){
+            rt_task_set_periodic(&th_watchDog,TM_NOW,0);
+            cout << "Stopping Robot (";
+            rt_mutex_acquire(&mutex_robot, TM_INFINITE);
+            msgSend = robot.Write(new Message(MESSAGE_ROBOT_RESET));
+            rt_mutex_release(&mutex_robot);
+            cout << msgSend->GetID();
+            cout << ")" << endl;
+            cout << "Movement answer: " << msgSend->ToString() << endl << flush;
+            WriteInQueue(&q_messageToMon, msgSend);  // msgSend will be deleted by sendToMon
             rt_mutex_acquire(&mutex_robotStarted, TM_INFINITE);
-            robotStarted = 1;
+            robotStarted = 0;
             rt_mutex_release(&mutex_robotStarted);
-        }
+        } 
+        
+   
+    }
+}
+
+
+void Tasks::WatchDog(void *arg) {
+    cout << "Start " << __PRETTY_FUNCTION__ << endl << flush;
+    // Synchronization barrier (waiting that all tasks are starting)
+    rt_sem_p(&sem_barrier, TM_INFINITE);
+    rt_task_set_periodic(NULL, TM_NOW, 0);
+    while (1) {
+        rt_task_wait_period(NULL);
+        Message * msgSend;
+        rt_mutex_acquire(&mutex_robot, TM_INFINITE);
+        msgSend = robot.ReloadWD();
+        rt_mutex_release(&mutex_robot);
     }
 }
 
@@ -434,7 +502,6 @@ void Tasks::MoveTask(void *arg) {
                 rt_mutex_acquire(&mutex_robot, TM_INFINITE);
                 robot.Write(new Message((MessageID)cpMove));
                 rt_mutex_release(&mutex_robot);
-                
                 previousMove = cpMove;
             }
         }
diff --git a/software/raspberry/superviseur-robot/tasks.h b/software/raspberry/superviseur-robot/tasks.h
index d042d1c..4bb8ed8 100644
--- a/software/raspberry/superviseur-robot/tasks.h
+++ b/software/raspberry/superviseur-robot/tasks.h
@@ -99,6 +99,8 @@ private:
     RT_SEM sem_openComRobot;
     RT_SEM sem_serverOk;
     RT_SEM sem_startRobot;
+    RT_SEM sem_watchdogStart;
+    RT_SEM sem_restartServer;
     
     
 
@@ -107,7 +109,6 @@ private:
     /**********************************************************************/
     int MSG_QUEUE_SIZE;
     RT_QUEUE q_messageToMon;
-    
     RT_QUEUE q_messageComRobot;
     RT_QUEUE q_messageControlRobot;
     RT_QUEUE q_messageControlCam;
@@ -168,7 +169,12 @@ private:
      * @return Nothing
      */
     void ReadBattery(void *arg);
-
+    
+    /**
+     * Sends periodically a message to the robot
+     * @return Nothing
+     */
+    void Watchdog(void *arg);
 
 };