diff --git a/libuavcan/include/uavcan/protocol/dynamic_node_id_server/distributed/cluster_manager.hpp b/libuavcan/include/uavcan/protocol/dynamic_node_id_server/distributed/cluster_manager.hpp
index 6e0a8e038c..f237b19436 100644
--- a/libuavcan/include/uavcan/protocol/dynamic_node_id_server/distributed/cluster_manager.hpp
+++ b/libuavcan/include/uavcan/protocol/dynamic_node_id_server/distributed/cluster_manager.hpp
@@ -89,22 +89,6 @@ private:
         return NULL;
     }
 
-    void addServer(NodeID node_id)
-    {
-        UAVCAN_ASSERT((num_known_servers_ + 1) < MaxClusterSize);
-        if (!isKnownServer(node_id) && node_id.isUnicast())
-        {
-            tracer_.onEvent(TraceRaftNewServerDiscovered, node_id.get());
-            servers_[num_known_servers_].node_id = node_id;
-            servers_[num_known_servers_].resetIndices(log_);
-            num_known_servers_ = static_cast<uint8_t>(num_known_servers_ + 1U);
-        }
-        else
-        {
-            UAVCAN_ASSERT(0);
-        }
-    }
-
     virtual void handleTimerEvent(const TimerEvent&)
     {
         UAVCAN_ASSERT(num_known_servers_ < cluster_size_);
@@ -301,6 +285,25 @@ public:
         return 0;
     }
 
+    /**
+     * Adds once server regardless of the discovery logic.
+     */
+    void addServer(NodeID node_id)
+    {
+        UAVCAN_ASSERT((num_known_servers_ + 1) < MaxClusterSize);
+        if (!isKnownServer(node_id) && node_id.isUnicast())
+        {
+            tracer_.onEvent(TraceRaftNewServerDiscovered, node_id.get());
+            servers_[num_known_servers_].node_id = node_id;
+            servers_[num_known_servers_].resetIndices(log_);
+            num_known_servers_ = static_cast<uint8_t>(num_known_servers_ + 1U);
+        }
+        else
+        {
+            UAVCAN_ASSERT(0);
+        }
+    }
+
     /**
      * Whether such server has been discovered.
      */
diff --git a/libuavcan/include/uavcan/protocol/dynamic_node_id_server/distributed/raft_core.hpp b/libuavcan/include/uavcan/protocol/dynamic_node_id_server/distributed/raft_core.hpp
index a1600a9e16..8abdb8919e 100644
--- a/libuavcan/include/uavcan/protocol/dynamic_node_id_server/distributed/raft_core.hpp
+++ b/libuavcan/include/uavcan/protocol/dynamic_node_id_server/distributed/raft_core.hpp
@@ -457,9 +457,16 @@ private:
     {
         if (!cluster_.isKnownServer(request.getSrcNodeID()))
         {
-            trace(TraceRaftRequestIgnored, request.getSrcNodeID().get());
-            response.setResponseEnabled(false);
-            return;
+            if (cluster_.isClusterDiscovered())
+            {
+                trace(TraceRaftRequestIgnored, request.getSrcNodeID().get());
+                response.setResponseEnabled(false);
+                return;
+            }
+            else
+            {
+                cluster_.addServer(request.getSrcNodeID());
+            }
         }
 
         UAVCAN_ASSERT(response.isResponseEnabled());  // This is default