diff --git a/examples/sdkconfig.defaults b/examples/sdkconfig.defaults
index 928a028f4..eaf5df31a 100644
--- a/examples/sdkconfig.defaults
+++ b/examples/sdkconfig.defaults
@@ -26,8 +26,7 @@ CONFIG_ESP32S3_SPIRAM_SUPPORT=n
 CONFIG_SPIRAM_SPEED_80M=y
 CONFIG_SPIRAM_IGNORE_NOTFOUND=y
 CONFIG_SPIRAM_USE_MALLOC=y
-CONFIG_HEAP_ABORT_WHEN_ALLOCATION_FAILS=y
-CONFIG_SPIRAM_MALLOC_ALWAYSINTERNAL=4096
+CONFIG_SPIRAM_MALLOC_ALWAYSINTERNAL=4090
 #CONFIG_SPIRAM_TRY_ALLOCATE_WIFI_LWIP=y
 
 #CONFIG_MBEDTLS_DEBUG=y
diff --git a/src/common/conn/server.rs b/src/common/conn/server.rs
index 4347c359a..e7ee8b0d8 100755
--- a/src/common/conn/server.rs
+++ b/src/common/conn/server.rs
@@ -311,9 +311,9 @@ where
             .unwrap();
         let _ = self.app_client.insert(app_client);
         let cloned_robot = robot.clone();
-
+        let mut current_prio = None;
         loop {
-            let _ = smol::Timer::after(std::time::Duration::from_millis(100)).await;
+            let _ = smol::Timer::after(std::time::Duration::from_millis(300)).await;
 
             let sig = if let Some(webrtc_config) = self.webrtc_config.as_ref() {
                 let ip = self.app_config.get_ip();
@@ -345,22 +345,31 @@ where
                 },
                 async {
                     let mut api = sig.await.map_err(|e| ServerError::Other(Box::new(e)))?;
-                    if let Some(task) = self.webtrc_conn.as_ref() {
-                        if !task.is_finished() {
-                            log::info!(
-                                "a webrtc connection is active ignoring further signaling requests"
-                            );
-                            return Err(ServerError::ServerConnectionNotConfigured);
-                        }
-                    }
+
+                    let prio = self
+                        .webtrc_conn
+                        .as_ref()
+                        .and_then(|f| (!f.is_finished()).then_some(&current_prio))
+                        .unwrap_or(&None);
+
                     let sdp = api
-                        .answer()
+                        .answer(prio)
                         .await
                         .map_err(|e| ServerError::Other(Box::new(e)))?;
 
+                    // When the current priority is lower than the priority of the incoming connection then
+                    // we cancel and close the current webrtc connection (if any)
+                    if let Some(task) = self.webtrc_conn.take() {
+                        if !task.is_finished() {
+                            let _ = task.cancel().await;
+                        }
+                    }
+
+                    let _ = current_prio.insert(sdp.1);
+
                     Ok(IncomingConnection::WebRtcConnection(WebRTCConnection {
                         webrtc_api: api,
-                        sdp,
+                        sdp: sdp.0,
                         server: None,
                         robot: cloned_robot.clone(),
                     }))
diff --git a/src/common/webrtc/api.rs b/src/common/webrtc/api.rs
index 265a4fe46..ff05ff41e 100755
--- a/src/common/webrtc/api.rs
+++ b/src/common/webrtc/api.rs
@@ -71,6 +71,8 @@ pub enum WebRtcError {
     Other(#[from] anyhow::Error),
     #[error(transparent)]
     DtlsError(#[from] Box<dyn std::error::Error + Send + Sync>),
+    #[error("the active webrtc connection has a higher priority")]
+    CurrentConnectionHigherPrority(),
 }
 
 pub(crate) struct WebRtcSignalingChannel {
@@ -410,7 +412,10 @@ where
         Err(WebRtcError::DataChannelOpenError())
     }
 
-    pub async fn answer(&mut self) -> Result<Box<WebRtcSdp>, WebRtcError> {
+    pub async fn answer(
+        &mut self,
+        current_prio: &Option<u32>,
+    ) -> Result<(Box<WebRtcSdp>, u32), WebRtcError> {
         let offer = self
             .signaling
             .as_mut()
@@ -426,6 +431,19 @@ where
             .get(0)
             .ok_or_else(|| WebRtcError::InvalidSDPOffer("no media description".to_owned()))?;
 
+        let caller_prio = attribute
+            .attribute("x-priority")
+            .flatten()
+            .map_or(Ok(u32::MAX), |a| a.parse::<u32>())
+            .unwrap_or(u32::MAX);
+
+        let current_prio = current_prio.unwrap_or(0);
+
+        // TODO use is_some_then when rust min version reach 1.70
+        if current_prio >= caller_prio {
+            return Err(WebRtcError::CurrentConnectionHigherPrority());
+        }
+
         let remote_creds = ICECredentials::new(
             attribute
                 .attribute("ice-ufrag")
@@ -486,9 +504,9 @@ where
 
         let answer = answer.with_media(media);
 
-        Ok(Box::new(WebRtcSdp::new(
-            answer,
-            self.uuid.as_ref().unwrap().clone(),
-        )))
+        Ok((
+            Box::new(WebRtcSdp::new(answer, self.uuid.as_ref().unwrap().clone())),
+            caller_prio,
+        ))
     }
 }