diff --git a/lib/syskit/telemetry/async/name_service.rb b/lib/syskit/telemetry/async/name_service.rb
index 5d2d03257..388bb8573 100644
--- a/lib/syskit/telemetry/async/name_service.rb
+++ b/lib/syskit/telemetry/async/name_service.rb
@@ -159,36 +159,63 @@ def wait_for_task_discovery
 
                 # @api private
                 #
-                # Remove a resolved task from the pending discoveries
+                # Find a valid resolved task from the pending discoveries
                 #
-                # @return [(String,TaskContext),nil] a resolved task or nil
-                #   if there are none so far
+                # @return [AsyncDiscovery,nil] a valid resolved task or nil if there are
+                #   none so far
                 def pop_discovered_task
                     loop do
-                        async_discovery = @discovery.each_value.find(&:resolved?)
-                        return unless async_discovery
-
-                        @discovery.delete(async_discovery.task.name)
-                        async_discovery.update_from_result
-
-                        current_ior = @iors.get[async_discovery.task.name]
-                        next unless current_ior
-
-                        if async_discovery.ior != current_ior
-                            # The IOR associated with that name changed since the future
-                            # started processing. Throw away the resolved task and start
-                            # again
-                            async_discovery.async_task&.dispose
-                            async_discover_task(async_discovery.task)
-                            next
-                        end
-
+                        return unless (async_discovery = pop_finished_discovery)
+                        next unless finished_discovery_validate_ior(async_discovery)
                         next unless async_discovery.async_task
 
                         return async_discovery
                     end
                 end
 
+                # @api private
+                #
+                # Get one async discovery result from the terminated discovery futures
+                #
+                # Unlike {pop_discovered_task}, it will not try to find a valid discovered
+                # task. It only gets one finished result
+                #
+                # @return [AsyncDiscovery]
+                def pop_finished_discovery
+                    async_discovery = @discovery.each_value.find(&:resolved?)
+                    return unless async_discovery
+
+                    @discovery.delete(async_discovery.task.name)
+                    async_discovery.update_from_result
+                    async_discovery
+                end
+
+                # @api private
+                #
+                # Validate that an async discovery result matches the expected IOR
+                # for the task
+                #
+                # To guard against race conditions, the name service object maintains
+                # a hash of the task names to the expected IORs. When we fetch an async
+                # discovery result, we validate that the found task is actually pointing
+                # to the expected IOR. If it is not, the result is thrown away and a
+                # new discovery is initiated
+                #
+                # @param [AsyncDiscovery] async_discovery
+                def finished_discovery_validate_ior(async_discovery)
+                    current_ior = @iors.get[async_discovery.task.name]
+                    return unless current_ior
+
+                    return true if async_discovery.ior == current_ior
+
+                    # The IOR associated with that name changed since the future
+                    # started processing. Throw away the resolved task and start
+                    # again
+                    async_discovery.async_task&.dispose
+                    async_discover_task(async_discovery.task)
+                    false
+                end
+
                 # @api private
                 #
                 # Discover a single task
@@ -225,7 +252,9 @@ def orogen_model_from_name(name)
                 # (see NameServiceBase#get)
                 def ior(name)
                     task = @registered_tasks[name]
-                    return task.identity if task.respond_to?(:ior)
+                    if (identity = task&.identity)
+                        return identity
+                    end
 
                     raise Orocos::NotFound, "task context #{name} cannot be found."
                 end