diff --git a/software/raspberry/superviseur-robot/tasks.cpp b/software/raspberry/superviseur-robot/tasks.cpp
index 64dfa74..30bbf1d 100644
--- a/software/raspberry/superviseur-robot/tasks.cpp
+++ b/software/raspberry/superviseur-robot/tasks.cpp
@@ -731,53 +731,61 @@ void Tasks::DetectLostSupRob(void *arg){
     bool kill_detectLostSupRobOk=0;
     Message* msgSend;
     
-    //Wait the Communication with the Robot to be Set
-    rt_sem_p(&sem_detectLostSupRob, TM_INFINITE);
-    
-    //Initialize the variable for the loop condition
-    rt_mutex_acquire(&mutex_killDetectLostSupRob, TM_INFINITE);
-        killDetectLostSupRob=0;
-    rt_mutex_release(&mutex_killDetectLostSupRob);
-    
     //Period = 1s
     rt_task_set_periodic(NULL, TM_NOW, 1000000000);
+
+    while(1){
     
-    while(!kill_detectLostSupRobOk){
-        rt_task_wait_period(NULL);
-        
-        //Test Communication with Robot
-        rt_mutex_acquire(&mutex_robot, TM_INFINITE);
-            msgSend = robot.Write(robot.Ping());
-        rt_mutex_release(&mutex_robot);
-        
-        if(msgSend->GetID() == MESSAGE_ANSWER_COM_ERROR || msgSend->GetID() == MESSAGE_ANSWER_ROBOT_TIMEOUT){
-            
-            cout << "Didn't Get Any Answer from Robot" << endl << flush;
-            cpt++;
-            
-            if(cpt==3){
-                //Trigger Kill of DetectLostSupRob
-                rt_mutex_acquire(&mutex_killDetectLostSupRob, TM_INFINITE);
-                    killDetectLostSupRob=1;
-                rt_mutex_release(&mutex_killDetectLostSupRob);
-                
-                //Trigger Kill of the Battery acquisition
-                rt_mutex_acquire(&mutex_killBattery, TM_INFINITE);
-                    killBattery=1;
-                rt_mutex_release(&mutex_killBattery);  
-               
-            }
-        }
-        
-        else{
-            cout << "I got an Answer from Robot" << endl << flush;
-        }
-        
+        //Wait the Communication with the Robot to be Set
+        rt_sem_p(&sem_detectLostSupRob, TM_INFINITE);
+        cout << "Start DetectLostSupRob" << endl << flush;
+
+        kill_detectLostSupRobOk = 0;
+        //Initialize the variable for the loop condition
         rt_mutex_acquire(&mutex_killDetectLostSupRob, TM_INFINITE);
-            kill_detectLostSupRobOk=killDetectLostSupRob;
-        rt_mutex_release(&mutex_killDetectLostSupRob);        
+            killDetectLostSupRob = 0;
+        rt_mutex_release(&mutex_killDetectLostSupRob);
+
+
+        while(!kill_detectLostSupRobOk){
+            rt_task_wait_period(NULL);
+
+            //Test Communication with Robot
+            rt_mutex_acquire(&mutex_robot, TM_INFINITE);
+                msgSend = robot.Write(robot.Ping());
+            rt_mutex_release(&mutex_robot);
+            cout << "J'écris un message" << endl << flush;
+            
+
+            if(msgSend->GetID() == MESSAGE_ANSWER_COM_ERROR || msgSend->GetID() == MESSAGE_ANSWER_ROBOT_TIMEOUT){
+
+                cout << "Didn't Get Any Answer from Robot" << endl << flush;
+                cpt++;
+
+                if(cpt==3){
+                    //Trigger Kill of DetectLostSupRob
+                    rt_mutex_acquire(&mutex_killDetectLostSupRob, TM_INFINITE);
+                        killDetectLostSupRob=1;
+                    rt_mutex_release(&mutex_killDetectLostSupRob);
+
+                    //Trigger Kill of the Battery acquisition
+                    rt_mutex_acquire(&mutex_killBattery, TM_INFINITE);
+                        killBattery=1;
+                    rt_mutex_release(&mutex_killBattery);  
+
+                }
+            }
+
+            else{
+                cout << "I got an Answer from Robot" << endl << flush;
+            }
+
+            rt_mutex_acquire(&mutex_killDetectLostSupRob, TM_INFINITE);
+                kill_detectLostSupRobOk=killDetectLostSupRob;
+            rt_mutex_release(&mutex_killDetectLostSupRob);        
+        }
+        cout << "DetectLostSupRob dies";
     }
-    cout << "DetectLostSupRob dies";
 }
 
 /**