diff --git a/NetworkSync.cpp b/NetworkSync.cpp
index ccaa630..22a2a05 100644
--- a/NetworkSync.cpp
+++ b/NetworkSync.cpp
@@ -43,6 +43,15 @@ void NetworkSync::ReceiveNetworkId() {
   }
 }
 
+void NetworkSync::BroadcastState(Roboid *roboid)
+{
+  // if (roboid->updated == false)
+  //   return;
+
+  SendPose(roboid);
+  BroadcastPerception(roboid);
+}
+
 void NetworkSync::NewObject(InterestingThing* thing) {
   if (thing == nullptr || thing->networkId != 0x00)
     return;
@@ -201,6 +210,13 @@ void NetworkSync::PublishClient() {
 #endif
 }
 
+void NetworkSync::BroadcastPerception(Roboid *roboid) {
+  if (roboid->perception == nullptr)
+    return;
+    
+  PublishTrackedObjects(roboid, roboid->perception->GetTrackedObjects());
+}
+
 void NetworkSync::PublishTrackedObjects(Roboid* roboid,
                                         InterestingThing** objects) {
   if (networkId == 0)  // We're not connected to a site yet
diff --git a/NetworkSync.h b/NetworkSync.h
index 13f9d59..47432e5 100644
--- a/NetworkSync.h
+++ b/NetworkSync.h
@@ -58,6 +58,8 @@ class NetworkSync {
 
   void ReceiveNetworkId();
 
+  void BroadcastState(Roboid* roboid);
+
   void SendInvestigate(InterestingThing* thing);
 
   void SendPoseMsg(Buffer sendBuffer, Roboid* roboid);
@@ -65,6 +67,7 @@ class NetworkSync {
   // void PublishNewObject();
   void PublishRelativeThing(Thing* thing, bool recurse = false);
 
+  void BroadcastPerception(Roboid *roboid);
   void PublishTrackedObjects(Roboid* roboid, InterestingThing** objects);
 
   virtual void SendPosition(Vector3 worldPosition) {};