diff --git a/software/raspberry/superviseur-robot/tasks.cpp b/software/raspberry/superviseur-robot/tasks.cpp
index 30bbf1d..68af1b8 100644
--- a/software/raspberry/superviseur-robot/tasks.cpp
+++ b/software/raspberry/superviseur-robot/tasks.cpp
@@ -423,8 +423,14 @@ void Tasks::ReceiveFromMonTask(void *arg) {
                 sleep(1);
                 
                 //All closes
-                monitor.Close();
-                robot.Close();
+                rt_mutex_acquire(&mutex_monitor, TM_INFINITE);
+                    monitor.Close();
+                rt_mutex_release(&mutex_monitor);
+                
+  
+                rt_mutex_acquire(&mutex_robot, TM_INFINITE);
+                    robot.Close();
+                rt_mutex_release(&mutex_robot);
 
                 //Tasks::Join();