diff --git a/cmd/qiloop/server.go b/cmd/qiloop/server.go
index 417919a..bf539cc 100644
--- a/cmd/qiloop/server.go
+++ b/cmd/qiloop/server.go
@@ -2,9 +2,11 @@ package main
 
 import (
 	"log"
+	"net/url"
 	"os"
 	"os/signal"
 
+	"github.com/hashicorp/mdns"
 	"github.com/lugu/qiloop/bus"
 	dir "github.com/lugu/qiloop/bus/directory"
 	qilog "github.com/lugu/qiloop/bus/logger"
@@ -32,6 +34,21 @@ func server(serverURL string) {
 	interrupt := make(chan os.Signal, 1)
 	signal.Notify(interrupt, os.Interrupt)
 
+	url, err := url.Parse(serverURL)
+	if err != nil {
+		log.Fatal(err)
+	}
+	info := []string{"RobotType=NAO", "Protocol=tcp"}
+	service, err := mdns.NewMDNSService(url.Hostname(), "_naoqi._tcp", "", "", 9559, nil, info)
+	if err != nil {
+		log.Fatalf("MDNS Server: %s", err)
+	}
+	mdnsServer, err := mdns.NewServer(&mdns.Config{Zone: service})
+	if err != nil {
+		log.Fatalf("MDNS Server: %s", err)
+	}
+	defer mdnsServer.Shutdown()
+
 	select {
 	case err = <-server.WaitTerminate():
 		if err != nil {
diff --git a/go.mod b/go.mod
index e1dfdad..e9294b1 100644
--- a/go.mod
+++ b/go.mod
@@ -6,6 +6,7 @@ require (
 	github.com/denisbrodbeck/machineid v1.0.1
 	github.com/ftrvxmtrx/fd v0.0.0-20150925145434-c6d800382fff
 	github.com/google/go-cmp v0.6.0 // indirect
+	github.com/hashicorp/mdns v1.0.5 // indirect
 	github.com/integrii/flaggy v1.5.2
 	github.com/mattes/go-asciibot v0.0.0-20190603170252-3fa6d766c482
 	github.com/prataprc/goparsec v0.0.0-20211219142520-daac0e635e7e
diff --git a/go.sum b/go.sum
index 13c8b0b..f05d1a9 100644
--- a/go.sum
+++ b/go.sum
@@ -9,10 +9,14 @@ github.com/ftrvxmtrx/fd v0.0.0-20150925145434-c6d800382fff/go.mod h1:yUhRXHewUVJ
 github.com/google/go-cmp v0.5.6/go.mod h1:v8dTdLbMG2kIc/vJvl+f65V22dbkXbowE6jgT/gNBxE=
 github.com/google/go-cmp v0.6.0 h1:ofyhxvXcZhMsU5ulbFiLKl/XBFqE1GSq7atu8tAmTRI=
 github.com/google/go-cmp v0.6.0/go.mod h1:17dUlkBOakJ0+DkrSSNjCkIjxS6bF9zb3elmeNGIjoY=
+github.com/hashicorp/mdns v1.0.5 h1:1M5hW1cunYeoXOqHwEb/GBDDHAFo0Yqb/uz/beC6LbE=
+github.com/hashicorp/mdns v1.0.5/go.mod h1:mtBihi+LeNXGtG8L9dX59gAEa12BDtBQSp4v/YAJqrc=
 github.com/integrii/flaggy v1.5.2 h1:bWV20MQEngo4hWhno3i5Z9ISPxLPKj9NOGNwTWb/8IQ=
 github.com/integrii/flaggy v1.5.2/go.mod h1:dO13u7SYuhk910nayCJ+s1DeAAGC1THCMj1uSFmwtQ8=
 github.com/mattes/go-asciibot v0.0.0-20190603170252-3fa6d766c482 h1:Is74U2kXPdMV6wu/Z1QYiFB8SrNvhFx9EK7ZS/4i5kM=
 github.com/mattes/go-asciibot v0.0.0-20190603170252-3fa6d766c482/go.mod h1:akTvhl4803od3DOIWgnTKgOJx3Pevvt7BU9pRrKdRVA=
+github.com/miekg/dns v1.1.41 h1:WMszZWJG0XmzbK9FEmzH2TVcqYzFesusSIB41b8KHxY=
+github.com/miekg/dns v1.1.41/go.mod h1:p6aan82bvRIyn+zDIv9xYNUpwa73JcSh9BKwknJysuI=
 github.com/prataprc/goparsec v0.0.0-20211219142520-daac0e635e7e h1:7teoyCCMBovX+/L3/C2adcGNJI6Tsx6a2hbWQ8vWoO8=
 github.com/prataprc/goparsec v0.0.0-20211219142520-daac0e635e7e/go.mod h1:YbpxZqbf10o5u96/iDpcfDQmbIOTX/iNCH/yBByTfaM=
 github.com/yuin/goldmark v1.4.13/go.mod h1:6yULJ656Px+3vBD8DxQVa3kxgyrAnzto9xy5taEt/CY=
@@ -24,14 +28,19 @@ golang.org/x/mod v0.6.0-dev.0.20220419223038-86c51ed26bb4/go.mod h1:jJ57K6gSWd91
 golang.org/x/mod v0.8.0/go.mod h1:iBbtSCu2XBx23ZKBPSOrRkjjQPZFPuis4dIYUhu/chs=
 golang.org/x/net v0.0.0-20190620200207-3b0461eec859/go.mod h1:z5CRVTTTmAJ677TzLLGU+0bjPO0LkuOLi4/5GtJWs/s=
 golang.org/x/net v0.0.0-20210226172049-e18ecbb05110/go.mod h1:m0MpNAwzfU5UDzcl9v0D8zg8gWTRqZa9RBIspLL5mdg=
+golang.org/x/net v0.0.0-20210410081132-afb366fc7cd1/go.mod h1:9tjilg8BloeKEkVJvy7fQ90B1CfIiPueXVOjqfkSzI8=
 golang.org/x/net v0.0.0-20220722155237-a158d28d115b/go.mod h1:XRhObCWvk6IyKnWLug+ECip1KBveYUHfp+8e9klMJ9c=
 golang.org/x/net v0.6.0/go.mod h1:2Tu9+aMcznHK/AK1HMvgo6xiTLG5rD5rZLDS+rp2Bjs=
+golang.org/x/net v0.10.0 h1:X2//UzNDwYmtCLn7To6G58Wr6f5ahEAQgKNzv9Y951M=
 golang.org/x/net v0.10.0/go.mod h1:0qNGK6F8kojg2nk9dLZ2mShWaEBan6FAoqfSigmmuDg=
 golang.org/x/sync v0.0.0-20190423024810-112230192c58/go.mod h1:RxMgew5VJxzue5/jJTE5uejpjVlOe/izrB70Jof72aM=
+golang.org/x/sync v0.0.0-20210220032951-036812b2e83c/go.mod h1:RxMgew5VJxzue5/jJTE5uejpjVlOe/izrB70Jof72aM=
 golang.org/x/sync v0.0.0-20220722155255-886fb9371eb4/go.mod h1:RxMgew5VJxzue5/jJTE5uejpjVlOe/izrB70Jof72aM=
 golang.org/x/sync v0.1.0/go.mod h1:RxMgew5VJxzue5/jJTE5uejpjVlOe/izrB70Jof72aM=
 golang.org/x/sys v0.0.0-20190215142949-d0b11bdaac8a/go.mod h1:STP8DvDyc/dI5b8T5hshtkjS+E42TnysNCUPdjciGhY=
 golang.org/x/sys v0.0.0-20201119102817-f84b799fce68/go.mod h1:h1NjWce9XRLGQEsW7wpKNCjG9DtNlClVuFLEZdDNbEs=
+golang.org/x/sys v0.0.0-20210303074136-134d130e1a04/go.mod h1:h1NjWce9XRLGQEsW7wpKNCjG9DtNlClVuFLEZdDNbEs=
+golang.org/x/sys v0.0.0-20210330210617-4fbd30eecc44/go.mod h1:h1NjWce9XRLGQEsW7wpKNCjG9DtNlClVuFLEZdDNbEs=
 golang.org/x/sys v0.0.0-20210615035016-665e8c7367d1/go.mod h1:oPkhp1MJrh7nUepCBck5+mAzfO9JrbApNNgaTdGDITg=
 golang.org/x/sys v0.0.0-20220520151302-bc2c85ada10a/go.mod h1:oPkhp1MJrh7nUepCBck5+mAzfO9JrbApNNgaTdGDITg=
 golang.org/x/sys v0.0.0-20220722155257-8c9f86f7a55f/go.mod h1:oPkhp1MJrh7nUepCBck5+mAzfO9JrbApNNgaTdGDITg=
@@ -47,6 +56,7 @@ golang.org/x/term v0.14.0 h1:LGK9IlZ8T9jvdy6cTdfKUCltatMFOehAQo9SRC46UQ8=
 golang.org/x/term v0.14.0/go.mod h1:TySc+nGkYR6qt8km8wUhuFRTVSMIX3XPR58y2lC8vww=
 golang.org/x/text v0.3.0/go.mod h1:NqM8EUOU14njkJ3fqMW+pc6Ldnwhi/IjpwHt7yyuwOQ=
 golang.org/x/text v0.3.3/go.mod h1:5Zoc/QRtKVWzQhOtBMvqHzDpF6irO9z98xDceosuGiQ=
+golang.org/x/text v0.3.6/go.mod h1:5Zoc/QRtKVWzQhOtBMvqHzDpF6irO9z98xDceosuGiQ=
 golang.org/x/text v0.3.7/go.mod h1:u+2+/6zg+i71rQMx5EYifcz6MCKuco9NR6JIITiCfzQ=
 golang.org/x/text v0.7.0/go.mod h1:mrYo+phRRbMaCq/xk9113O4dZlRixOauAjOtrjsXDZ8=
 golang.org/x/text v0.9.0/go.mod h1:e1OnstbJyHTd6l/uOt8jFFHp6TRDWZR/bV3emEE/zU8=