diff --git a/include/roah_rsbb.h b/include/roah_rsbb.h
index 9678039..575522c 100644
--- a/include/roah_rsbb.h
+++ b/include/roah_rsbb.h
@@ -193,6 +193,7 @@ namespace roah_rsbb
         protobuf_comm::MessageRegister& mr = this->message_register();
         mr.add_message_type<roah_rsbb_msgs::RobotBeacon>();
         mr.add_message_type<roah_rsbb_msgs::RoahRsbbBeacon>();
+        mr.add_message_type<roah_rsbb_msgs::TabletBeacon>();
       }
 
       typedef
@@ -241,6 +242,29 @@ namespace roah_rsbb
         return ret;
       }
 
+      typedef
+      boost::signals2::signal<void (boost::asio::ip::udp::endpoint&,
+                                    uint16_t,
+                                    uint16_t,
+                                    std::shared_ptr<const roah_rsbb_msgs::TabletBeacon>) >
+      signal_tablet_beacon_received_type;
+
+      signal_tablet_beacon_received_type& signal_tablet_beacon_received()
+      {
+        return signal_tablet_beacon_received_;
+      }
+
+      std::shared_ptr<const roah_rsbb_msgs::TabletBeacon>
+      last_tablet_beacon()
+      {
+        std::shared_ptr<const roah_rsbb_msgs::TabletBeacon> ret;
+        {
+          std::lock_guard<std::mutex> lock (tablet_beacon_mutex_);
+          ret = last_tablet_beacon_;
+        }
+        return ret;
+      }
+
     private:
       signal_robot_beacon_received_type signal_robot_beacon_received_;
       std::mutex robot_beacon_mutex_;
@@ -250,6 +274,10 @@ namespace roah_rsbb
       std::mutex rsbb_beacon_mutex_;
       std::shared_ptr<const roah_rsbb_msgs::RoahRsbbBeacon> last_rsbb_beacon_;
 
+      signal_tablet_beacon_received_type signal_tablet_beacon_received_;
+      std::mutex tablet_beacon_mutex_;
+      std::shared_ptr<const roah_rsbb_msgs::TabletBeacon> last_tablet_beacon_;
+
       bool
       recv_msg (boost::asio::ip::udp::endpoint& endpoint,
                 uint16_t comp_id,
@@ -280,6 +308,18 @@ namespace roah_rsbb
           return true;
         }
 
+        auto tablet_beacon = std::dynamic_pointer_cast<roah_rsbb_msgs::TabletBeacon> (msg);
+        if (tablet_beacon) {
+          {
+            std::lock_guard<std::mutex> lock (tablet_beacon_mutex_);
+            last_tablet_beacon_ = tablet_beacon;
+          }
+
+          signal_tablet_beacon_received_ (endpoint, comp_id, msg_type, tablet_beacon);
+
+          return true;
+        }
+
         return false;
       }
   };
diff --git a/proto/TabletBeacon.proto b/proto/TabletBeacon.proto
new file mode 100644
index 0000000..e7d01e2
--- /dev/null
+++ b/proto/TabletBeacon.proto
@@ -0,0 +1,44 @@
+/*
+ * Copyright 2014 Instituto de Sistemas e Robotica, Instituto Superior Tecnico
+ *
+ * This file is part of RoAH RSBB Comm.
+ *
+ * RoAH RSBB Comm is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * RoAH RSBB Comm is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public License
+ * along with RoAH RSBB Comm.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+package roah_rsbb_msgs;
+
+import "Time.proto";
+
+option java_package = "eu.rockin.roah_rsbb_msgs";
+option java_outer_classname = "TabletBeaconProtos";
+
+message TabletBeacon {
+  enum CompType {
+    COMP_ID  = 6666;
+    MSG_TYPE = 35;
+  }
+
+  // UTC time, time when the last call message via button is transmitted
+  required Time last_call = 1;
+
+  // UTC time, time when the last call message via image is transmitted
+  required Time last_pos = 2;
+
+  // Coordinate X
+  required double x = 3;
+
+  // Coordinate Y
+  required double y = 4;
+}
diff --git a/src/capture_comm.cpp b/src/capture_comm.cpp
index f57f7f8..1bd4688 100644
--- a/src/capture_comm.cpp
+++ b/src/capture_comm.cpp
@@ -129,6 +129,23 @@ class DumpComm
            << flush;
     }
 
+    static void
+    receive_tablet_beacon (boost::asio::ip::udp::endpoint& endpoint,
+                           uint16_t comp_id,
+                           uint16_t msg_type,
+                           shared_ptr<const roah_rsbb_msgs::TabletBeacon> msg)
+    {
+      cout << "Received TabletBeacon from " << endpoint.address().to_string()
+           << ":" << endpoint.port()
+           << ", COMP_ID " << comp_id
+           << ", MSG_TYPE " << msg_type << endl
+           << "  last_call: " << msg->last_call().sec() << "." << msg->last_call().nsec() << endl
+           << "  last_pos: " << msg->last_pos().sec() << "." << msg->last_pos().nsec() << endl
+           << "  x: " << msg->x() << endl
+           << "  y: " << msg->y() << endl
+           << flush;
+    }
+
   public:
     DumpComm (string const& host,
               unsigned short port) :
@@ -142,6 +159,7 @@ class DumpComm
            << ":" << port << endl << flush;
       public_channel_.signal_rsbb_beacon_received().connect (boost::bind (&DumpComm::receive_rsbb_beacon, this, _1, _2, _3, _4));
       public_channel_.signal_robot_beacon_received().connect (&DumpComm::receive_robot_beacon);
+      public_channel_.signal_tablet_beacon_received().connect (&DumpComm::receive_tablet_beacon);
     }
 
     void run()