diff --git a/src/modelec_gui/src/pages/map_page.cpp b/src/modelec_gui/src/pages/map_page.cpp
index 589b89d..ceccd73 100644
--- a/src/modelec_gui/src/pages/map_page.cpp
+++ b/src/modelec_gui/src/pages/map_page.cpp
@@ -271,14 +271,11 @@ namespace ModelecGUI
     {
         QWidget::mouseMoveEvent(event);
 
-        if (event->button() == Qt::RightButton)
-        {
-            enemy_pos_.x = Modelec::mapValue(event->pos().x(), 0, width(), 0, 3000);
-            enemy_pos_.y = 2000 - Modelec::mapValue(event->pos().y(), 0, height(), 0, 2000);
-            enemy_pos_.theta = 0;
+        enemy_pos_.x = Modelec::mapValue(event->pos().x(), 0, width(), 0, 3000);
+        enemy_pos_.y = 2000 - Modelec::mapValue(event->pos().y(), 0, height(), 0, 2000);
+        enemy_pos_.theta = 0;
 
-            enemy_pos_pub_->publish(enemy_pos_);
-        }
+        enemy_pos_pub_->publish(enemy_pos_);
     }
 
     void MapPage::OnObstacleReceived(const modelec_interfaces::msg::Obstacle::SharedPtr msg)
diff --git a/src/modelec_strat/src/missions/prepare_concert_mission.cpp b/src/modelec_strat/src/missions/prepare_concert_mission.cpp
index 9104b9c..7067387 100644
--- a/src/modelec_strat/src/missions/prepare_concert_mission.cpp
+++ b/src/modelec_strat/src/missions/prepare_concert_mission.cpp
@@ -76,7 +76,6 @@ namespace Modelec
             break;
         case TAKE_COLUMN:
             {
-                // TODO
                 closestDepoZone_ = nav_->GetClosestDepositeZone(nav_->GetCurrentPos(), nav_->GetTeamId());
                 if (!closestDepoZone_)
                 {
@@ -104,23 +103,52 @@ namespace Modelec
             break;
         case GO_BACK:
             {
-                closestDepoZone_ = nav_->GetClosestDepositeZone(nav_->GetCurrentPos(), nav_->GetTeamId());
-                if (!closestDepoZone_)
+
+                bool canGo = false;
+                std::vector<int> blacklistId = {};
+                int timeout = 0;
+
+                while (!canGo && timeout < 3)
+                {
+                    if (auto zone = nav_->GetClosestDepositeZone(nav_->GetCurrentPos(), nav_->GetTeamId(), blacklistId))
+                    {
+                        closestDepoZone_ = zone;
+                        closestDepoZonePoint_ = closestDepoZone_->GetNextPotPos();
+                        auto p = closestDepoZonePoint_.GetTakeBasePosition();
+
+                        if (nav_->CanGoTo(p, false, Pathfinding::FREE | Pathfinding::WALL) != Pathfinding::FREE)
+                        {
+                            if (nav_->GoToRotateFirst(p, true, Pathfinding::FREE | Pathfinding::WALL) != Pathfinding::FREE)
+                            {
+                                blacklistId.push_back(closestDepoZone_->GetId());
+                            }
+                            else
+                            {
+                                canGo = true;
+                            }
+                        }
+                        else
+                        {
+                            nav_->GoToRotateFirst(p, false, Pathfinding::FREE | Pathfinding::WALL);
+                            canGo = true;
+                        }
+                    }
+                    else
+                    {
+                        status_ = MissionStatus::FAILED;
+                        return;
+                    }
+
+                    timeout++;
+                }
+
+                if (!canGo)
                 {
                     status_ = MissionStatus::FAILED;
                     return;
                 }
 
                 closestDepoZonePoint_ = closestDepoZone_->ValidNextPotPos();
-                auto p = closestDepoZonePoint_.GetTakeBasePosition();
-                if (nav_->CanGoTo(p, false, Pathfinding::FREE | Pathfinding::WALL) != Pathfinding::FREE)
-                {
-                    nav_->GoToRotateFirst(p, true, Pathfinding::FREE | Pathfinding::WALL);
-                }
-                else
-                {
-                    nav_->GoToRotateFirst(p, false, Pathfinding::FREE | Pathfinding::WALL);
-                }
             }
 
             step_ = GO_TO_PLATFORM;