diff --git a/src/localization.cpp b/src/localization.cpp
index 07fea44..bef4d15 100644
--- a/src/localization.cpp
+++ b/src/localization.cpp
@@ -17,6 +17,13 @@ void Localization::setRobotPosition(int x, int y, int alpha) {
 }
 
 
+void Localization::setBeaconsPosition(pair<int, int> positions[3]){
+    for(unsigned int i = 0; i < 3; i++){
+        this->beaconsPositions[i] = positions[i];
+    }
+}
+
+
 void Localization::setBeaconsMode(bool state){
     this->beaconsMode = state;
 }
@@ -337,14 +344,19 @@ void Localization::handleMessage(const std::string &message) {
             vector<string> position = split(data, ",");
             this->setRobotPosition(stoi(position[0]), stoi(position[1]), stoi(position[2]));
         }
-        if (contains(verb, "set beacon mode")) {
-            //Enable or disable beacons triangulation
+        if (contains(verb, "set beacon")) {
+            //Enable or disable beacons triangulation. This must be put to 0 if no beacons are on the table
             this->setBeaconsMode(stoi(data));
         }
-        if (contains(verb, "set beacon position")) {
+        if (contains(verb, "set team")) {
             //Update beacons position
-            vector<string> position = split(data, ",");
-            this->setRobotPosition(stoi(position[0]), stoi(position[1]), stoi(position[2]));
+            if(stoi(data) == 0){
+                pair<int, int> positions[3] = BLUE_TEAM_BEACONS_POS;
+                this->setBeaconsPosition(positions);
+            } else if(stoi(data) == 1){
+                pair<int, int> positions[3] = YELLOW_TEAM_BEACONS_POS;
+                this->setBeaconsPosition(positions);
+            }
         }
         if (contains(verb, "get pos")) {
             //ONLY IF ROBOT IS STOPPED : measure robot position from multiple lidar runs.
diff --git a/src/localization.h b/src/localization.h
index 0c249bf..0e4312b 100644
--- a/src/localization.h
+++ b/src/localization.h
@@ -10,6 +10,8 @@
 #define AGGLOMERATES_TRIGGER 250
 #define BEACONS_RADIUS 50
 #define TRIANGULATION_ROUNDS 3
+#define YELLOW_TEAM_BEACONS_POS {make_pair(1,2), make_pair(3,4), make_pair(5,6)}
+#define BLUE_TEAM_BEACONS_POS {make_pair(1,2), make_pair(3,4), make_pair(5,6)}
 
 #include <iostream>
 #include <vector>
@@ -46,6 +48,7 @@ public:
     void setLidarHealth(bool ok);
     void setRobotPosition(int x, int y, int alpha);
     void setBeaconsMode(bool state);
+    void setBeaconsPosition(pair<int, int> positions[3]);
     [[nodiscard]] bool getLidarHealth() const;
     [[nodiscard]] bool getBeaconsMode() const;
     [[nodiscard]] vector<int> getAvoidance() const;