diff --git a/software/raspberry/superviseur-robot/tasks.cpp b/software/raspberry/superviseur-robot/tasks.cpp
index 77918d8..9bf4b61 100644
--- a/software/raspberry/superviseur-robot/tasks.cpp
+++ b/software/raspberry/superviseur-robot/tasks.cpp
@@ -556,14 +556,14 @@ void Tasks::OpenComRobot(void *arg) { //PAS DE SOUCIS AU REDEMARAGE
     int err;
     //bool killOpenComRobotOk = 0;
 
-    cout << "Start " << __PRETTY_FUNCTION__ << endl << flush;
-    // Synchronization barrier (waiting that all tasks are starting)
-    rt_sem_p(&sem_barrier, TM_INFINITE);
+    while (1) { //Is used to restart process
+        cout << "Start " << __PRETTY_FUNCTION__ << endl << flush;
+        // Synchronization barrier (waiting that all tasks are starting)
+        rt_sem_p(&sem_barrier, TM_INFINITE);
 
         /**************************************************************************************/
         /* The task openComRobot starts here                                                  */
         /**************************************************************************************/
-        while (1) { //Is used to restart process
             rt_sem_p(&sem_openComRobot, TM_INFINITE);    
             cout << "Open serial com (";
             rt_mutex_acquire(&mutex_robot, TM_INFINITE);
@@ -710,16 +710,16 @@ void Tasks::MoveTask(void *arg) {
     int rs;
     int cpMove;
     
-    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, 100000000);
+
+    while (1) {
+        cout << "Start " << __PRETTY_FUNCTION__ << endl << flush;
+        // Synchronization barrier (waiting that all tasks are starting)
+        rt_sem_p(&sem_barrier, TM_INFINITE);
     
     /**************************************************************************************/
     /* The task starts here                                                               */
     /**************************************************************************************/
-    rt_task_set_periodic(NULL, TM_NOW, 100000000);
-
-    while (1) {
         rt_task_wait_period(NULL);
         cout << "Periodic movement update";
         rt_mutex_acquire(&mutex_robotStarted, TM_INFINITE);
@@ -752,6 +752,10 @@ void Tasks::DetectLostSupRob(void *arg){
 
     while(1){//Used to restart process
     
+        cout << "Start " << __PRETTY_FUNCTION__ << endl << flush;
+        // Synchronization barrier (waiting that all tasks are starting)
+        rt_sem_p(&sem_barrier, TM_INFINITE);
+        
         //Wait the Communication with the Robot to be Set
         rt_sem_p(&sem_detectLostSupRob, TM_INFINITE);
         cout << "Start DetectLostSupRob" << endl << flush;
@@ -821,15 +825,15 @@ void Tasks::DetectLostSupRob(void *arg){
 
         
 void Tasks::AskBattery(void *arg){
-    Message* p_mess_answer_battery;
-    cout << "Start " << __PRETTY_FUNCTION__ << endl << flush;
-    // Synchronization barrier (waiting that all tasks are starting)
-    rt_sem_p(&sem_barrier, TM_INFINITE);
+    while(1){
+        Message* p_mess_answer_battery;
+        cout << "Start " << __PRETTY_FUNCTION__ << endl << flush;
+        // Synchronization barrier (waiting that all tasks are starting)
+        rt_sem_p(&sem_barrier, TM_INFINITE);
     
     /**************************************************************************************/
     /* The task starts here                                                               */
     /**************************************************************************************/
-    while(1){
         rt_sem_p(&sem_askBattery, TM_INFINITE);
         rt_mutex_acquire(&mutex_robot, TM_INFINITE);
         p_mess_answer_battery = robot.Write(robot.GetBattery());