diff --git a/backend/api/EventHandlers/MissionEventHandler.cs b/backend/api/EventHandlers/MissionEventHandler.cs
index a2eef32f9..7b6cfcea4 100644
--- a/backend/api/EventHandlers/MissionEventHandler.cs
+++ b/backend/api/EventHandlers/MissionEventHandler.cs
@@ -176,7 +176,15 @@ private async void OnEmergencyButtonPressedForRobot(object? sender, EmergencyBut
                 return;
             }
 
-            await MissionSchedulingService.ScheduleMissionToReturnToSafePosition(e.RobotId, area.Id);
+            try
+            {
+                await MissionSchedulingService.ScheduleMissionToReturnToSafePosition(e.RobotId, area.Id);
+            }
+            catch (SafeZoneException ex)
+            {
+                _logger.LogError(ex, "Failed to schedule return to safe zone mission on robot {RobotName} because: {ErrorMessage}", robot.Name, ex.Message);
+                await MissionSchedulingService.UnfreezeMissionRunQueueForRobot(e.RobotId);
+            }
 
             MqttEventHandlerService.TriggerRobotAvailable(new RobotAvailableEventArgs(robot.Id));
 
diff --git a/backend/api/EventHandlers/MissionScheduling.cs b/backend/api/EventHandlers/MissionScheduling.cs
index 748b68d76..c5050a85f 100644
--- a/backend/api/EventHandlers/MissionScheduling.cs
+++ b/backend/api/EventHandlers/MissionScheduling.cs
@@ -185,7 +185,6 @@ public async Task StopCurrentMissionRun(string robotId)
                 return;
             }
 
-
             var ongoingMissions = await GetOngoingMission(robot.Id);
 
             if (ongoingMissions == null)
@@ -196,6 +195,8 @@ public async Task StopCurrentMissionRun(string robotId)
             {
                 foreach (var mission in ongoingMissions)
                 {
+                    if (mission.MissionRunPriority == MissionRunPriority.Emergency) continue;
+
                     var newMission = new MissionRun
                     {
                         Name = mission.Name,
diff --git a/backend/api/Services/MissionSchedulingService.cs b/backend/api/Services/MissionSchedulingService.cs
index 6cefc3fd5..fbbe9f6d2 100644
--- a/backend/api/Services/MissionSchedulingService.cs
+++ b/backend/api/Services/MissionSchedulingService.cs
@@ -76,7 +76,8 @@ public Pose ClosestSafePosition(Pose robotPose, IList<SafePosition> safePosition
         {
             if (safePositions == null || !safePositions.Any())
             {
-                throw new ArgumentException("List of safe positions cannot be null or empty.");
+                string message = "No safe position for area the robot is localized in";
+                throw new SafeZoneException(message);
             }
 
             var closestPose = safePositions[0].Pose;
diff --git a/backend/api/Utilities/Exceptions.cs b/backend/api/Utilities/Exceptions.cs
index 63012a333..f96d81710 100644
--- a/backend/api/Utilities/Exceptions.cs
+++ b/backend/api/Utilities/Exceptions.cs
@@ -80,4 +80,9 @@ public class DeckExistsException : Exception
     {
         public DeckExistsException(string message) : base(message) { }
     }
+
+    public class SafeZoneException : Exception
+    {
+        public SafeZoneException(string message) : base(message) { }
+    }
 }