diff --git a/include/ur_client_library/comm/tcp_server.h b/include/ur_client_library/comm/tcp_server.h
index feb91065..8cad8dde 100644
--- a/include/ur_client_library/comm/tcp_server.h
+++ b/include/ur_client_library/comm/tcp_server.h
@@ -35,6 +35,7 @@
 #include <unistd.h>
 
 #include <atomic>
+#include <chrono>
 #include <functional>
 #include <thread>
 
@@ -60,7 +61,17 @@ class TCPServer
 {
 public:
   TCPServer() = delete;
-  TCPServer(const int port);
+  /*!
+   * \brief Create a TCPServer object
+   *
+   * \param port Port on which to operate. The port will be bound to the process creating the
+   * object.
+   * \param max_num_tries If binding the socket fails, it will be retried this many times. If 0 is
+   * specified, binding the socket will be tried indefinitely.
+   * \param reconnection_time Wait time in between binding attempts.
+   */
+  explicit TCPServer(const int port, const size_t max_num_tries = 0,
+                     const std::chrono::milliseconds reconnection_time = std::chrono::seconds(1));
   virtual ~TCPServer();
 
   /*!
@@ -147,7 +158,7 @@ class TCPServer
 
 private:
   void init();
-  void bind();
+  void bind(const size_t max_num_tries, const std::chrono::milliseconds reconnection_time);
   void startListen();
 
   //! Handles connection events
diff --git a/src/comm/tcp_server.cpp b/src/comm/tcp_server.cpp
index 8fa7bd81..fae39351 100644
--- a/src/comm/tcp_server.cpp
+++ b/src/comm/tcp_server.cpp
@@ -42,10 +42,11 @@ namespace urcl
 {
 namespace comm
 {
-TCPServer::TCPServer(const int port) : port_(port), maxfd_(0), max_clients_allowed_(0)
+TCPServer::TCPServer(const int port, const size_t max_num_tries, const std::chrono::milliseconds reconnection_time)
+  : port_(port), maxfd_(0), max_clients_allowed_(0)
 {
   init();
-  bind();
+  bind(max_num_tries, reconnection_time);
   startListen();
 }
 
@@ -124,7 +125,7 @@ void TCPServer::shutdown()
   }
 }
 
-void TCPServer::bind()
+void TCPServer::bind(const size_t max_num_tries, const std::chrono::milliseconds reconnection_time)
 {
   struct sockaddr_in server_addr;
   server_addr.sin_family = AF_INET;
@@ -132,13 +133,30 @@ void TCPServer::bind()
   // INADDR_ANY is a special constant that signalizes "ANY IFACE",
   server_addr.sin_addr.s_addr = htonl(INADDR_ANY);
   server_addr.sin_port = htons(port_);
-  int err = ::bind(listen_fd_, (struct sockaddr*)&server_addr, sizeof(server_addr));
-  if (err == -1)
+  int err = -1;
+  size_t connection_counter = 0;
+  do
   {
-    std::ostringstream ss;
-    ss << "Failed to bind socket for port " << port_ << " to address. Reason: " << strerror(errno);
-    throw std::system_error(std::error_code(errno, std::generic_category()), ss.str());
-  }
+    err = ::bind(listen_fd_, (struct sockaddr*)&server_addr, sizeof(server_addr));
+    if (err == -1)
+    {
+      std::ostringstream ss;
+      ss << "Failed to bind socket for port " << port_ << " to address. Reason: " << strerror(errno);
+
+      if (connection_counter++ < max_num_tries || max_num_tries == 0)
+      {
+        std::this_thread::sleep_for(reconnection_time);
+        ss << "Retrying in " << std::chrono::duration_cast<std::chrono::duration<float>>(reconnection_time).count()
+           << " seconds";
+        URCL_LOG_WARN("%s", ss.str().c_str());
+      }
+      else
+      {
+        throw std::system_error(std::error_code(errno, std::generic_category()), ss.str());
+      }
+    }
+  } while (err == -1 && (connection_counter <= max_num_tries || max_num_tries == 0));
+
   URCL_LOG_DEBUG("Bound %d:%d to FD %d", server_addr.sin_addr.s_addr, port_, (int)listen_fd_);
 
   FD_SET(listen_fd_, &masterfds_);
diff --git a/tests/test_tcp_server.cpp b/tests/test_tcp_server.cpp
index 61d10c45..0cec4b21 100644
--- a/tests/test_tcp_server.cpp
+++ b/tests/test_tcp_server.cpp
@@ -170,7 +170,7 @@ TEST_F(TCPServerTest, socket_creation)
   comm::TCPServer server(port_);
 
   // Shouldn't be able to create antoher server on same port
-  EXPECT_THROW(comm::TCPServer server2(port_), std::system_error);
+  EXPECT_THROW(comm::TCPServer server2(port_, 1, std::chrono::milliseconds(1)), std::system_error);
 
   server.start();
 
@@ -326,6 +326,12 @@ TEST_F(TCPServerTest, client_connections)
   EXPECT_FALSE(server.write(client2_fd, data, len, written));
   EXPECT_FALSE(server.write(client3_fd, data, len, written));
 }
+TEST_F(TCPServerTest, check_address_already_in_use)
+{
+  comm::TCPServer blocking_server(12321);
+
+  EXPECT_THROW(comm::TCPServer test_server(12321, 2, std::chrono::milliseconds(500)), std::system_error);
+}
 
 int main(int argc, char* argv[])
 {