diff --git a/software/raspberry/superviseur-robot/tasks.cpp b/software/raspberry/superviseur-robot/tasks.cpp
index 9f1b756..59dcf30 100644
--- a/software/raspberry/superviseur-robot/tasks.cpp
+++ b/software/raspberry/superviseur-robot/tasks.cpp
@@ -97,6 +97,10 @@ void Tasks::Init() {
 		cerr << "Error semaphore create sem_serverOk: " << strerror(-err) << endl;
 		exit(EXIT_FAILURE);
 	}
+	if ((err = rt_sem_create(&sem_openComRobot, nullptr, 0, S_FIFO))) {
+		cerr << "Error semaphore create sem_openComRobot: " << strerror(-err) << endl;
+		exit(EXIT_FAILURE);
+	}
 	if ((err = rt_sem_create(&sem_startRobot, nullptr, 0, S_FIFO))) {
 		cerr << "Error semaphore create sem_startRobot: " << strerror(-err) << endl;
 		exit(EXIT_FAILURE);
@@ -304,7 +308,7 @@ void Tasks::Join() {
 				rt_sem_v(&sem_stopServer);
 				lostConnection = true;
 			} else if (msgRcv->CompareID(MESSAGE_ROBOT_COM_OPEN)) {
-				WriteInQueue(&q_messageToMon, new Message(MESSAGE_ANSWER_ACK));
+				rt_sem_v(&sem_openComRobot);
 			} else if (msgRcv->CompareID(MESSAGE_ROBOT_START_WITHOUT_WD)) {
 				rt_mutex_acquire(&mutex_watchdogMode, TM_INFINITE);
 				watchdogMode = WITHOUT_WATCHDOG;
@@ -361,7 +365,7 @@ void Tasks::Join() {
 	 * *************************************************************************************/
 	while (true) {
 		Message *msgSend;
-		rt_sem_p(&sem_startRobot, TM_INFINITE);
+		rt_sem_p(&sem_openComRobot, TM_INFINITE);
 		cout << "Open serial com (";
 		rt_mutex_acquire(&mutex_robot, TM_INFINITE);
 		status = robot.Open();
@@ -372,6 +376,8 @@ void Tasks::Join() {
 			WriteInQueue(&q_messageToMon, new Message(MESSAGE_ANSWER_NACK)); // msgSend will be deleted by sendToMon
 		} else {
 			WriteInQueue(&q_messageToMon, new Message(MESSAGE_ANSWER_ACK)); // msgSend will be deleted by sendToMon
+
+			rt_sem_p(&sem_startRobot, TM_INFINITE);
 			rt_mutex_acquire(&mutex_watchdogMode, TM_INFINITE);
 			const WatchdogMode mode = watchdogMode;
 			rt_mutex_release(&mutex_watchdogMode);
@@ -430,7 +436,6 @@ void Tasks::Join() {
 
 	while (true) {
 		rt_task_wait_period(nullptr);
-		cout << "Periodic battery level update" << endl;
 
 		rt_mutex_acquire(&mutex_robotStarted, TM_INFINITE);
 		rs = robotStarted;
@@ -468,7 +473,6 @@ void Tasks::Join() {
 
 	while (true) {
 		rt_task_wait_period(nullptr);
-		cout << "Periodic movement update" << endl;
 		rt_mutex_acquire(&mutex_robotStarted, TM_INFINITE);
 		rs = robotStarted;
 		rt_mutex_release(&mutex_robotStarted);
diff --git a/software/raspberry/superviseur-robot/tasks.h b/software/raspberry/superviseur-robot/tasks.h
index 929097b..5a77929 100644
--- a/software/raspberry/superviseur-robot/tasks.h
+++ b/software/raspberry/superviseur-robot/tasks.h
@@ -98,6 +98,7 @@ private:
      * ********************************************************************/
     RT_SEM sem_barrier;
     RT_SEM sem_serverOk;
+    RT_SEM sem_openComRobot;
     RT_SEM sem_startRobot;
 	RT_SEM sem_stopRobot;
 	RT_SEM sem_stopServer;