diff --git a/src/udp_listen.rs b/src/udp_listen.rs
index 6bbc98c..e532599 100644
--- a/src/udp_listen.rs
+++ b/src/udp_listen.rs
@@ -2,6 +2,7 @@ use crate::orchestration::PeerHandle;
 use crate::{discovery::DiscoveryMessage, node_service::HealthCheckRequest};
 use std::collections::HashMap;
 use std::net::SocketAddr;
+use std::time::Duration;
 use system_configuration::sys::libc::disconnectx;
 use tokio::net::UdpSocket;
 use tokio::select;
@@ -15,6 +16,7 @@ struct NodeInfo {
     listen_port: u16,
     allowed_peer_ids: Option<Vec<String>>,
     allowed_interfaces: Option<Vec<String>>,
+    discovery_timeout: Duration,
 }
 
 pub async fn listen_for_discovery(
@@ -79,62 +81,95 @@ struct PeerInfo {
     priority: u8,
 }
 
+enum Action {
+    HealthChecks,
+    NewPeer(SocketAddr, DiscoveryMessage),
+}
+
 pub async fn manage_discovery(node_info: NodeInfo) {
     let mut peers: HashMap<String, PeerHandle> = HashMap::new();
     let (tx, mut rx) = tokio::sync::mpsc::unbounded_channel::<(SocketAddr, DiscoveryMessage)>();
     tokio::spawn(listen_for_discovery(node_info.clone(), tx));
 
-    while let Some((addr, message)) = rx.recv().await {
-        info!("Received discovery message from {}", message.node_id);
-        let existing = peers.get(&message.node_id);
-        let insert_new = match existing {
-            None => true,
-            Some(existing) => {
-                existing.address != addr && existing.address_priority < message.priority
-            }
+    loop {
+        let action = select! {
+            _ = tokio::time::sleep(node_info.discovery_timeout) => Action::HealthChecks,
+            Some((addr, message)) = rx.recv() => Action::NewPeer(addr, message),
         };
 
-        if !insert_new {
-            continue;
-        }
+        match action {
+            Action::NewPeer(addr, message) => {
+                let existing = peers.get(&message.node_id);
+                let insert_new = match existing {
+                    None => true,
+                    Some(existing) => {
+                        existing.address != addr && existing.address_priority < message.priority
+                    }
+                };
 
-        let description = format!("{} ({})", message.interface_type, message.interface_name);
+                if !insert_new {
+                    continue;
+                }
 
-        let a = PeerHandle::new(
-            message.node_id.clone(),
-            addr.clone(),
-            message.priority,
-            Some(description),
-            message.device_capabilities.clone(),
-        )
-        .await;
+                let description = format!("{} ({})", message.interface_type, message.interface_name);
 
-        let a = match a {
-            Ok(a) => a,
-            Err(error) => {
-                error!(
+                let a = PeerHandle::new(
+                    message.node_id.clone(),
+                    addr.clone(),
+                    message.priority,
+                    Some(description),
+                    message.device_capabilities.clone(),
+                )
+                    .await;
+
+                let a = match a {
+                    Ok(a) => a,
+                    Err(error) => {
+                        error!(
                     "Failed to connect to new peer {} at {}: {}",
                     message.node_id, addr, error
                 );
-                continue;
+                        continue;
+                    }
+                };
+
+                let is_healthy = a
+                    .client
+                    .lock()
+                    .await
+                    .health_check(HealthCheckRequest::default())
+                    .await
+                    .ok()
+                    .map(|x| x.into_inner().is_healthy)
+                    .unwrap_or(false);
+
+                if !is_healthy {
+                    error!("Peer {} is not healthy", message.node_id);
+                    continue;
+                }
+
+                peers.insert(message.node_id, a);
             }
-        };
 
-        let is_healthy = a
-            .client
-            .lock()
-            .await
-            .health_check(HealthCheckRequest::default())
-            .await
-            .ok()
-            .map(|x| x.into_inner().is_healthy)
-            .unwrap_or(false);
+            Action::HealthChecks => {
+                let mut to_remove = Vec::new();
+                
+                for peer in peers.values() {
+                    let is_healthy = peer.client.lock().await.health_check(HealthCheckRequest::default())
+                        .await
+                        .ok()
+                        .map(|x| x.into_inner().is_healthy)
+                        .unwrap_or(false);
 
-        if !is_healthy {
-            error!("Peer {} is not healthy", message.node_id);
-            continue;
+                    if !is_healthy {
+                        to_remove.push(peer.node_id.clone());
+                    }
+                }
+
+                for peer_id in to_remove {
+                    peers.remove(&peer_id);
+                }
+            }
         }
-
-        peers.insert(message.node_id, a);
     }
 }