diff --git a/src/modelec_strat/data/config.xml b/src/modelec_strat/data/config.xml
index 7b52919..58d61f2 100644
--- a/src/modelec_strat/data/config.xml
+++ b/src/modelec_strat/data/config.xml
@@ -8,7 +8,9 @@
         <detection>
             <min_move_threshold_mm>50</min_move_threshold_mm>
             <refresh_rate>0.5</refresh_rate>
+            <max_stationary_time_s>10</max_stationary_time_s>
         </detection>
+        <factor_close_enemy>-0.3</factor_close_enemy>
     </enemy>
 
     <robot>
diff --git a/src/modelec_strat/include/modelec_strat/enemy_manager.hpp b/src/modelec_strat/include/modelec_strat/enemy_manager.hpp
index 5889fa4..a86a725 100644
--- a/src/modelec_strat/include/modelec_strat/enemy_manager.hpp
+++ b/src/modelec_strat/include/modelec_strat/enemy_manager.hpp
@@ -3,6 +3,7 @@
 #include <rclcpp/rclcpp.hpp>
 
 #include <modelec_interfaces/msg/odometry_pos.hpp>
+#include <modelec_interfaces/msg/strat_state.hpp>
 #include <sensor_msgs/msg/laser_scan.hpp>
 
 namespace Modelec
@@ -23,9 +24,13 @@ namespace Modelec
 
         rclcpp::Subscription<modelec_interfaces::msg::OdometryPos>::SharedPtr current_pos_sub_;
         rclcpp::Subscription<sensor_msgs::msg::LaserScan>::SharedPtr laser_scan_sub_;
+        rclcpp::Subscription<modelec_interfaces::msg::StratState>::SharedPtr state_sub_;
         rclcpp::Publisher<modelec_interfaces::msg::OdometryPos>::SharedPtr enemy_pos_pub_;
+        rclcpp::Publisher<modelec_interfaces::msg::OdometryPos>::SharedPtr enemy_long_time_pub_;
         rclcpp::TimerBase::SharedPtr timer_;
 
+        rclcpp::Time last_movement_time_;
+
         modelec_interfaces::msg::OdometryPos current_pos_;
 
         modelec_interfaces::msg::OdometryPos last_enemy_pos_;
@@ -34,5 +39,8 @@ namespace Modelec
 
         float min_move_threshold_mm_ = 0.0f;
         float refresh_rate_s_ = 0.0f;
+
+        bool game_stated_ = false;
+        float max_stationary_time_s_ = 10.0f;
     };
 }
diff --git a/src/modelec_strat/include/modelec_strat/missions/go_home_mission.hpp b/src/modelec_strat/include/modelec_strat/missions/go_home_mission.hpp
index 17fb1ec..032fe75 100644
--- a/src/modelec_strat/include/modelec_strat/missions/go_home_mission.hpp
+++ b/src/modelec_strat/include/modelec_strat/missions/go_home_mission.hpp
@@ -19,6 +19,7 @@ namespace Modelec
 
     private:
         enum Step {
+            ROTATE_TO_HOME,
             GO_HOME,
             GO_CLOSE,
             DONE
diff --git a/src/modelec_strat/include/modelec_strat/navigation_helper.hpp b/src/modelec_strat/include/modelec_strat/navigation_helper.hpp
index c040e9d..37b0e1c 100644
--- a/src/modelec_strat/include/modelec_strat/navigation_helper.hpp
+++ b/src/modelec_strat/include/modelec_strat/navigation_helper.hpp
@@ -41,10 +41,18 @@ namespace Modelec {
 
         bool HasArrived() const;
 
+        bool RotateTo(const PosMsg::SharedPtr& pos);
+        bool RotateTo(const Point& pos);
+        void Rotate(double angle);
+
         int GoTo(const PosMsg::SharedPtr& goal, bool isClose = false, int collisionMask = Pathfinding::FREE);
         int GoTo(int x, int y, double theta, bool isClose = false, int collisionMask = Pathfinding::FREE);
         int GoTo(const Point& goal, bool isClose = false, int collisionMask = Pathfinding::FREE);
 
+        int GoToRotateFirst(const PosMsg::SharedPtr& goal, bool isClose = false, int collisionMask = Pathfinding::FREE);
+        int GoToRotateFirst(int x, int y, double theta, bool isClose = false, int collisionMask = Pathfinding::FREE);
+        int GoToRotateFirst(const Point& goal, bool isClose = false, int collisionMask = Pathfinding::FREE);
+
         int CanGoTo(const PosMsg::SharedPtr& goal, bool isClose = false, int collisionMask = Pathfinding::FREE);
         int CanGoTo(int x, int y, double theta, bool isClose = false, int collisionMask = Pathfinding::FREE);
         int CanGoTo(const Point& goal, bool isClose = false, int collisionMask = Pathfinding::FREE);
@@ -88,6 +96,8 @@ namespace Modelec {
 
         int team_id_ = YELLOW;
 
+        float factor_close_enemy_ = 0;
+
         std::vector<Waypoint> waypoints_;
 
         PosMsg::SharedPtr current_pos_;
@@ -103,5 +113,8 @@ namespace Modelec {
         rclcpp::Subscription<modelec_interfaces::msg::OdometryPos>::SharedPtr enemy_pos_sub_;
 
         modelec_interfaces::msg::OdometryPos last_enemy_pos_;
+
+        bool await_rotate_ = false;
+        std::vector<Waypoint> send_back_waypoints_;
     };
 }
\ No newline at end of file
diff --git a/src/modelec_strat/include/modelec_strat/pathfinding.hpp b/src/modelec_strat/include/modelec_strat/pathfinding.hpp
index 3340db8..8a68fe1 100644
--- a/src/modelec_strat/include/modelec_strat/pathfinding.hpp
+++ b/src/modelec_strat/include/modelec_strat/pathfinding.hpp
@@ -58,6 +58,7 @@ namespace Modelec {
         int enemy_length_mm_ = 0;
         int enemy_margin_mm_ = 0;
         int margin_mm_ = 0;
+        float factor_close_enemy_ = 0;
 
         Pathfinding();
 
diff --git a/src/modelec_strat/src/enemy_manager.cpp b/src/modelec_strat/src/enemy_manager.cpp
index 8ff4039..9806e45 100644
--- a/src/modelec_strat/src/enemy_manager.cpp
+++ b/src/modelec_strat/src/enemy_manager.cpp
@@ -17,6 +17,8 @@ namespace Modelec
 
         refresh_rate_s_ = Config::get<float>("config.enemy.detection.refresh_rate", 1.0);
 
+        max_stationary_time_s_ = Config::get<float>("config.enemy.detection.max_stationary_time_s", 10.0);
+
         current_pos_sub_ = this->create_subscription<modelec_interfaces::msg::OdometryPos>(
             "odometry/position", 10,
             [this](const modelec_interfaces::msg::OdometryPos::SharedPtr msg) {
@@ -32,6 +34,18 @@ namespace Modelec
         enemy_pos_pub_ = this->create_publisher<modelec_interfaces::msg::OdometryPos>(
             "enemy/position", 10);
 
+        state_sub_ = create_subscription<modelec_interfaces::msg::StratState>("/strat/state", 10,
+            [this](const modelec_interfaces::msg::StratState::SharedPtr msg)
+            {
+                if (!game_stated_ && msg->state == modelec_interfaces::msg::StratState::SELECT_MISSION)
+                {
+                    game_stated_ = true;
+                }
+            });
+
+        enemy_long_time_pub_ = this->create_publisher<modelec_interfaces::msg::OdometryPos>(
+    "enemy/long-time", 10);
+
         timer_ = this->create_wall_timer(
             std::chrono::seconds(1),
             std::bind(&EnemyManager::TimerCallback, this)
@@ -128,9 +142,21 @@ namespace Modelec
             {
                 last_enemy_pos_ = enemy_pos;
                 last_publish_time_ = this->now();
+                last_movement_time_ = this->now();  // Mise à jour du dernier vrai mouvement
                 enemy_pos_pub_->publish(enemy_pos);
                 RCLCPP_INFO(this->get_logger(), "Enemy moved: x=%ld, y=%ld", enemy_pos.x, enemy_pos.y);
             }
+            else
+            {
+                auto now = this->now();
+                if ((now - last_movement_time_).seconds() > max_stationary_time_s_)
+                {
+                    enemy_long_time_pub_->publish(last_enemy_pos_);
+                    RCLCPP_WARN(this->get_logger(), "Enemy has been stationary for too long at x=%ld y=%ld", last_enemy_pos_.x, last_enemy_pos_.y);
+
+                    last_movement_time_ = now;
+                }
+            }
         }
         else
         {
diff --git a/src/modelec_strat/src/missions/go_home_mission.cpp b/src/modelec_strat/src/missions/go_home_mission.cpp
index bfcc579..7b0a13c 100644
--- a/src/modelec_strat/src/missions/go_home_mission.cpp
+++ b/src/modelec_strat/src/missions/go_home_mission.cpp
@@ -2,7 +2,7 @@
 
 namespace Modelec
 {
-    GoHomeMission::GoHomeMission(const std::shared_ptr<NavigationHelper>& nav, const rclcpp::Time& start_time) : step_(GO_HOME), status_(MissionStatus::READY), nav_(nav), start_time_(start_time)
+    GoHomeMission::GoHomeMission(const std::shared_ptr<NavigationHelper>& nav, const rclcpp::Time& start_time) : step_(ROTATE_TO_HOME), status_(MissionStatus::READY), nav_(nav), start_time_(start_time)
     {
     }
 
@@ -12,7 +12,15 @@ namespace Modelec
 
         auto pos = nav_->GetHomePosition();
         home_point_ = Point(pos->x, pos->y, pos->theta);
-        nav_->GoTo(home_point_.GetTakeBasePosition());
+        if (nav_->CanGoTo(home_point_.GetTakeBasePosition()) != Pathfinding::FREE)
+        {
+            if (nav_->CanGoTo(home_point_.GetTakeBasePosition(), true) != Pathfinding::FREE)
+            {
+                status_ = MissionStatus::FAILED;
+                return;
+            }
+        }
+        nav_->RotateTo(home_point_);
 
         status_ = MissionStatus::RUNNING;
     }
@@ -23,6 +31,20 @@ namespace Modelec
 
         switch (step_)
         {
+            case ROTATE_TO_HOME:
+                {
+                    if (nav_->GoTo(home_point_.GetTakeBasePosition()) != Pathfinding::FREE)
+                    {
+                        if (nav_->GoTo(home_point_.GetTakeBasePosition(), true) != Pathfinding::FREE)
+                        {
+                            status_ = MissionStatus::FAILED;
+                            return;
+                        }
+                    }
+                }
+
+                step_ = GO_HOME;
+                break;
             case GO_HOME:
                 if ((node_->now() - start_time_).seconds() < 94)
                 {
diff --git a/src/modelec_strat/src/missions/prepare_concert_mission.cpp b/src/modelec_strat/src/missions/prepare_concert_mission.cpp
index 2f4d64d..9104b9c 100644
--- a/src/modelec_strat/src/missions/prepare_concert_mission.cpp
+++ b/src/modelec_strat/src/missions/prepare_concert_mission.cpp
@@ -30,7 +30,7 @@ namespace Modelec
 
                 auto pos = column_->GetOptimizedGetPos(nav_->GetCurrentPos()).GetTakeBasePosition();
 
-                auto res = nav_->GoTo(pos.x, pos.y, pos.theta, false, Pathfinding::FREE | Pathfinding::WALL);
+                auto res = nav_->GoToRotateFirst(pos, false, Pathfinding::FREE | Pathfinding::WALL);
                 if (res != Pathfinding::FREE)
                 {
                     blacklistId.push_back(column_->id());
@@ -64,7 +64,7 @@ namespace Modelec
         case GO_TO_COLUMN:
             {
                 auto pos = column_->GetOptimizedGetPos(nav_->GetCurrentPos()).GetTakeClosePosition();
-                nav_->GoTo(pos.x, pos.y, pos.theta, true, Pathfinding::FREE | Pathfinding::WALL);
+                nav_->GoTo(pos, true, Pathfinding::FREE | Pathfinding::WALL);
             }
 
             step_ = GO_CLOSE_TO_COLUMN;
@@ -86,16 +86,16 @@ namespace Modelec
 
                 closestDepoZonePoint_ = closestDepoZone_->GetNextPotPos();
                 auto p = closestDepoZonePoint_.GetTakeBasePosition();
-                auto res = nav_->CanGoTo(p.x, p.y, p.theta, false, Pathfinding::FREE | Pathfinding::WALL);
+                auto res = nav_->CanGoTo(p, false, Pathfinding::FREE | Pathfinding::WALL);
                 if (res != Pathfinding::FREE)
                 {
                     auto pos = column_->GetOptimizedGetPos(nav_->GetCurrentPos()).GetTakeBasePosition();
-                    nav_->GoTo(pos.x, pos.y, pos.theta, true, Pathfinding::FREE | Pathfinding::WALL);
+                    nav_->GoTo(pos, true, Pathfinding::FREE | Pathfinding::WALL);
                     step_ = GO_BACK;
                 }
                 else
                 {
-                    nav_->GoTo(p.x, p.y, p.theta, false, Pathfinding::FREE | Pathfinding::WALL);
+                    nav_->GoToRotateFirst(p, false, Pathfinding::FREE | Pathfinding::WALL);
                     closestDepoZone_->ValidNextPotPos();
                     step_ = GO_TO_PLATFORM;
                 }
@@ -113,13 +113,13 @@ namespace Modelec
 
                 closestDepoZonePoint_ = closestDepoZone_->ValidNextPotPos();
                 auto p = closestDepoZonePoint_.GetTakeBasePosition();
-                if (nav_->CanGoTo(p.x, p.y, p.theta, false, Pathfinding::FREE | Pathfinding::WALL) != Pathfinding::FREE)
+                if (nav_->CanGoTo(p, false, Pathfinding::FREE | Pathfinding::WALL) != Pathfinding::FREE)
                 {
-                    nav_->GoTo(p.x, p.y, p.theta, true, Pathfinding::FREE | Pathfinding::WALL);
+                    nav_->GoToRotateFirst(p, true, Pathfinding::FREE | Pathfinding::WALL);
                 }
                 else
                 {
-                    nav_->CanGoTo(p.x, p.y, p.theta, false, Pathfinding::FREE | Pathfinding::WALL);
+                    nav_->GoToRotateFirst(p, false, Pathfinding::FREE | Pathfinding::WALL);
                 }
             }
 
diff --git a/src/modelec_strat/src/navigation_helper.cpp b/src/modelec_strat/src/navigation_helper.cpp
index d4baa26..df57caf 100644
--- a/src/modelec_strat/src/navigation_helper.cpp
+++ b/src/modelec_strat/src/navigation_helper.cpp
@@ -13,6 +13,8 @@ namespace Modelec {
     {
         pathfinding_ = std::make_shared<Pathfinding>(node);
 
+        factor_close_enemy_ = Config::get<float>("config.enemy.factor_close_enemy", -0.5f);
+
         waypoint_reach_sub_ = node_->create_subscription<WaypointReachMsg>(
             "odometry/waypoint_reach", 10,
             [this](const WaypointReachMsg::SharedPtr msg) {
@@ -180,6 +182,45 @@ namespace Modelec {
         return waypoints_.back().reached;
     }
 
+    bool NavigationHelper::RotateTo(const PosMsg::SharedPtr& pos)
+    {
+        double angle = std::atan2(pos->y - current_pos_->y, pos->x - current_pos_->x);
+
+        if (std::abs(angle - current_pos_->theta) > M_PI / 3)
+        {
+            Rotate(angle);
+            return true;
+        }
+        return false;
+    }
+
+    bool NavigationHelper::RotateTo(const Point& pos)
+    {
+        double angle = std::atan2(pos.y - current_pos_->y, pos.x - current_pos_->x);
+
+        if (std::abs(angle - current_pos_->theta) > M_PI / 3)
+        {
+            Rotate(angle);
+            return true;
+        }
+        return false;
+    }
+
+    void NavigationHelper::Rotate(double angle)
+    {
+        waypoints_.clear();
+
+        WaypointMsg startAngle;
+        startAngle.x = current_pos_->x;
+        startAngle.y = current_pos_->y;
+        startAngle.theta = angle;
+        startAngle.id = 0;
+        startAngle.is_end = true;
+
+        waypoints_.emplace_back(startAngle);
+        SendWaypoint();
+    }
+
     int NavigationHelper::GoTo(const PosMsg::SharedPtr& goal, bool isClose, int collisionMask)
     {
         last_go_to_ = {goal, isClose, collisionMask};
@@ -217,6 +258,58 @@ namespace Modelec {
         return GoTo(goal.x, goal.y, goal.theta, isClose, collisionMask);
     }
 
+    int NavigationHelper::GoToRotateFirst(const PosMsg::SharedPtr& goal, bool isClose, int collisionMask)
+    {
+        last_go_to_ = {goal, isClose, collisionMask};
+
+        auto [res, wl] = FindPath(goal, isClose, collisionMask);
+
+        if (wl.empty() || res != Pathfinding::FREE)
+        {
+            return res;
+        }
+
+        auto p = Point(wl[0].x, wl[0].y, wl[0].theta);
+        if (RotateTo(p))
+        {
+            await_rotate_ = true;
+
+            send_back_waypoints_.clear();
+
+            for (auto & w : wl)
+            {
+                send_back_waypoints_.emplace_back(w);
+            }
+        }
+        else
+        {
+            waypoints_.clear();
+
+            for (auto & w : wl)
+            {
+                waypoints_.emplace_back(w);
+            }
+
+            SendWaypoint();
+        }
+
+        return res;
+    }
+
+    int NavigationHelper::GoToRotateFirst(int x, int y, double theta, bool isClose, int collisionMask)
+    {
+        PosMsg::SharedPtr goal = std::make_shared<PosMsg>();
+        goal->x = x;
+        goal->y = y;
+        goal->theta = theta;
+        return GoToRotateFirst(goal, isClose, collisionMask);
+    }
+
+    int NavigationHelper::GoToRotateFirst(const Point& goal, bool isClose, int collisionMask)
+    {
+        return GoToRotateFirst(goal.x, goal.y, goal.theta, isClose, collisionMask);
+    }
+
     int NavigationHelper::CanGoTo(const PosMsg::SharedPtr& goal, bool isClose, int collisionMask)
     {
         return FindPath(goal, isClose, collisionMask).first;
@@ -271,7 +364,7 @@ namespace Modelec {
             deposite_zones_[obs->GetId()] = obs;
         }
 
-        RCLCPP_INFO(node_->get_logger(), "Loaded %zu obstacles from XML", deposite_zones_.size());
+        RCLCPP_INFO(node_->get_logger(), "Loaded %zu zone from XML", deposite_zones_.size());
         return true;
     }
 
@@ -289,7 +382,7 @@ namespace Modelec {
             {
                 double distance = Point::distance(posPoint, zone->GetPosition());
                 double enemy_distance = Point::distance(enemyPos, zone->GetPosition());
-                double s = distance * 2 + enemy_distance;
+                double s = distance + enemy_distance * factor_close_enemy_;
                 if (s < score)
                 {
                     score = s;
@@ -381,6 +474,18 @@ namespace Modelec {
             if (waypoint.id == msg->id)
             {
                 waypoint.reached = true;
+
+                if (await_rotate_)
+                {
+                    await_rotate_ = false;
+
+                    waypoints_.clear();
+                    for (auto & w : send_back_waypoints_)
+                    {
+                        waypoints_.emplace_back(w);
+                    }
+                    SendWaypoint();
+                }
             }
         }
     }
diff --git a/src/modelec_strat/src/pathfinding.cpp b/src/modelec_strat/src/pathfinding.cpp
index 8157976..68e737d 100644
--- a/src/modelec_strat/src/pathfinding.cpp
+++ b/src/modelec_strat/src/pathfinding.cpp
@@ -42,6 +42,8 @@ namespace Modelec
 
         enemy_margin_mm_ = Config::get<int>("config.enemy.size.margin_mm", 50);
 
+        factor_close_enemy_ = Config::get<float>("config.enemy.factor_close_enemy", -0.5f);
+
         grid_width_ = Config::get<int>("config.map.size.grid_width", 300);
         grid_height_ = Config::get<int>("config.map.size.grid_height", 200);
 
@@ -498,18 +500,6 @@ namespace Modelec
         return {FREE, waypoints};
     }
 
-    /*void Pathfinding::SetStartAndGoal(const PosMsg::SharedPtr& start, const PosMsg::SharedPtr& goal)
-    {
-        current_start_ = start;
-        current_goal_ = goal;
-        current_waypoints_ = FindPath(start, goal);
-
-        for (const auto& wp : current_waypoints_)
-        {
-            waypoint_pub_->publish(wp);
-        }
-    }*/
-
     void Pathfinding::SetCurrentPos(const PosMsg::SharedPtr& pos)
     {
         current_start_ = pos;
@@ -557,7 +547,7 @@ namespace Modelec
                         auto dist = Point::distance(robotPos, possiblePos);
                         auto distEnemy = Point::distance(enemyPos, possiblePos);
 
-                        auto s = dist * 2 + distEnemy;
+                        auto s = dist + distEnemy * factor_close_enemy_;
 
                         if (s < score)
                         {