diff --git a/mrobot_controller/app.py b/mrobot_controller/app.py
index a65016a..2609d0a 100644
--- a/mrobot_controller/app.py
+++ b/mrobot_controller/app.py
@@ -33,7 +33,7 @@ def main():
         logger.info("Starting controller...")
         asyncio.run(controller.run())
     except Exception as e:
-        logger.critical(f"Failed to start video streaming: {e}")
+        logger.critical(f"Failed to start controller: {e}")
         controller.stop()
         exit(1)
 
diff --git a/mrobot_controller/controller.py b/mrobot_controller/controller.py
index 357bd31..df22088 100644
--- a/mrobot_controller/controller.py
+++ b/mrobot_controller/controller.py
@@ -3,6 +3,7 @@
 from .websocket import WebSocketServer, WebSocketMessageHandler
 from .serdes import deserialize, DeserializationError, serialize
 from .video_streamer import VideoStreamer
+from .dns_sd import ServicePublisher
 
 
 class ControllerException(Exception):
@@ -20,6 +21,7 @@ def __init__(self, port: int, video_config: dict):
                                             'localhost',
                                             video_config['port'],
                                             video_config['test'])
+        self.service_publisher = ServicePublisher('mrobot-server', video_config['port'])
         self.event_loop = None
         self.tasks = None
 
@@ -49,6 +51,8 @@ def handle_message(self, message):
     async def run(self):
         self.logger.debug('Starting server')
 
+        self.service_publisher.publish()
+
         self.event_loop = asyncio.get_running_loop()
         self.tasks = await asyncio.gather(
             asyncio.to_thread(self.video_streamer.start),
@@ -56,8 +60,12 @@ async def run(self):
         )
 
     def stop(self):
-        self.video_streamer.stop()
-        self.tasks.cancel()
+        if self.service_publisher:
+            self.service_publisher.unpublish()
+        if self.video_streamer:
+            self.video_streamer.stop()
+        if self.tasks:
+            self.tasks.cancel()
 
     def video_start(self, parameters):
         self.logger.info(f'Starting video')
diff --git a/mrobot_controller/dns_sd/__init__.py b/mrobot_controller/dns_sd/__init__.py
new file mode 100644
index 0000000..1fb1061
--- /dev/null
+++ b/mrobot_controller/dns_sd/__init__.py
@@ -0,0 +1 @@
+from .snd_sd import ServicePublisher
diff --git a/mrobot_controller/dns_sd/snd_sd.py b/mrobot_controller/dns_sd/snd_sd.py
new file mode 100644
index 0000000..a5a0743
--- /dev/null
+++ b/mrobot_controller/dns_sd/snd_sd.py
@@ -0,0 +1,32 @@
+import socket
+from zeroconf import ServiceInfo, Zeroconf
+import logging
+
+
+class ServicePublisher:
+
+    def __init__(self, service_name: str, port: int):
+        self.logger = logging.getLogger(f'{self.__class__.__name__}-{service_name}')
+        self.zeroconf = Zeroconf()
+        self.service_name = f'_{service_name}._websocket._tcp.local.'
+        self.port = port
+
+        local_ip = socket.gethostbyname(socket.gethostname())
+
+        self.info = ServiceInfo(
+            '_websocket._tcp.local.',
+            name=self.service_name,
+            addresses=[socket.inet_aton(local_ip)],
+            port=port,
+            properties={'path': '/ws'},
+            server="websocket-server.local."
+        )
+
+    def publish(self):
+        self.zeroconf.register_service(self.info)
+        self.logger.info(f"WebSocket service '{self.service_name}' published on port {self.port}")
+
+    def unpublish(self):
+        self.zeroconf.unregister_service(self.info)
+        self.zeroconf.close()
+        self.logger.info(f"WebSocket service '{self.service_name}' removed")
diff --git a/mrobot_controller/video_streamer/video_streamer.py b/mrobot_controller/video_streamer/video_streamer.py
index ce6db74..02669d4 100644
--- a/mrobot_controller/video_streamer/video_streamer.py
+++ b/mrobot_controller/video_streamer/video_streamer.py
@@ -181,7 +181,7 @@ def pause(self):
         self.logger.info('Pipeline state: PAUSED')
         self.pipeline.set_state(Gst.State.PAUSED)
 
-    async def stop(self):
+    def stop(self):
         # Clean up
         self.pipeline.set_state(Gst.State.NULL)
         self.logger.info('Pipeline stopped')
diff --git a/requirements.txt b/requirements.txt
index 49f8eb2..52c1f91 100644
--- a/requirements.txt
+++ b/requirements.txt
@@ -3,3 +3,4 @@ websockets
 json
 asyncio
 msgpack
+zeroconf