diff --git a/lib/roby/coordination/base.rb b/lib/roby/coordination/base.rb
index 7f239b45d..63ffadf59 100644
--- a/lib/roby/coordination/base.rb
+++ b/lib/roby/coordination/base.rb
@@ -70,6 +70,11 @@ def initialize(root_task = nil, arguments = Hash.new, options = Hash.new)
                             attach_fault_response_tables_to(new_task)
                         end
                     end
+
+                    #We register ourself at the rreffering roby task to 
+                    #get a access to us.
+                    root_task.register_coordination_object(self)
+
                 end
             end
 
diff --git a/lib/roby/task.rb b/lib/roby/task.rb
index 73b9f1cfc..cbcbfc8ab 100644
--- a/lib/roby/task.rb
+++ b/lib/roby/task.rb
@@ -185,6 +185,7 @@ def initialize(arguments = Hash.new) #:yields: task_object
 
             @poll_handlers = []
             @execute_handlers = []
+            @coordination_objects = []
 
             yield(self) if block_given?
 
@@ -664,9 +665,6 @@ def emitting_event(event, context) # :nodoc:
             if finished? && !event.terminal?
                 raise EmissionFailed.new(nil, event),
 		    "#{self}.emit(#{event.symbol}, #{context}) called by #{plan.engine.propagation_sources.to_a} but the task has finished. Task has been terminated by #{event(:stop).history.first.sources}."
-            elsif pending? && event.symbol != :start
-                raise EmissionFailed.new(nil, event),
-		    "#{self}.emit(#{event.symbol}, #{context}) called by #{plan.engine.propagation_sources.to_a} but the task has never been started"
             elsif running? && event.symbol == :start
                 raise EmissionFailed.new(nil, event),
 		    "#{self}.emit(#{event.symbol}, #{context}) called by #{plan.engine.propagation_sources.to_a} but the task is already running. Task has been started by #{event(:start).history.first.sources}."
@@ -705,7 +703,15 @@ def fired_event(event)
         #
         # It is only much more efficient
         attr_reader :failure_event
-	
+
+        # Reference to the coordinating task if this Roby::Task is handled by a coordination
+        # object like Statemachiens or ActionScripts
+        attr_reader :coordination_objects
+
+        def register_coordination_object(object)
+            coordination_objects << object
+        end
+
 	# Call to update the task status because of +event+
 	def update_task_status(event) # :nodoc:
 	    if event.success?