diff --git a/src/rtps_builtin_endpoint.vhd b/src/rtps_builtin_endpoint.vhd
index b40137c..7e7c300 100644
--- a/src/rtps_builtin_endpoint.vhd
+++ b/src/rtps_builtin_endpoint.vhd
@@ -3133,19 +3133,33 @@ begin
                     when 2 =>
                         -- No Match
                         if (mem_read_data /= guid(1)) then
-                            -- Continue Search
-                            mem_addr_next       <= tmp;
-                            mem_addr_base_next  <= tmp;
-                            mem_cnt_next        <= 0;
+                            -- Reached End of Memory, No Match
+                            if (mem_addr_base = max_participant_addr) then
+                                addr_res_next   <= MAX_ADDRESS; --No match
+                                -- DONE
+                                mem_stage_next  <= IDLE;
+                            else
+                                -- Continue Search
+                                mem_addr_next       <= tmp;
+                                mem_addr_base_next  <= tmp;
+                                mem_cnt_next        <= 0;
+                            end if;
                         end if;
                     -- GUID Prefix 3/3
                     when 3 =>
                         -- No Match
                         if (mem_read_data /= guid(2)) then
-                            -- Continue Search
-                            mem_addr_next       <= tmp;
-                            mem_addr_base_next  <= tmp;
-                            mem_cnt_next        <= 0;
+                            -- Reached End of Memory, No Match
+                            if (mem_addr_base = max_participant_addr) then
+                                addr_res_next   <= MAX_ADDRESS; --No match
+                                -- DONE
+                                mem_stage_next  <= IDLE;
+                            else
+                                -- Continue Search
+                                mem_addr_next       <= tmp;
+                                mem_addr_base_next  <= tmp;
+                                mem_cnt_next        <= 0;
+                            end if;
                         -- Match
                         else
                             -- Fetch Participant Data
@@ -3562,23 +3576,69 @@ begin
                     when 2 =>
                         -- Slot Occupied
                         if (mem_read_data /= GUIDPREFIX_UNKNOWN(1)) then
-                            -- Latch last occupied Participant Slot
-                            last_addr_next      <= mem_addr_base;
-                            -- Continue Search
-                            mem_addr_next       <= tmp;
-                            mem_addr_base_next  <= tmp;
-                            mem_cnt_next        <= 0;
+                            if (mem_addr_base = max_participant_addr) then
+                                -- We are in the middle of resetting the MAX Participant Pointer
+                                if (reset_max_pointer = '1') then
+                                    -- No Change
+                                    mem_stage_next  <= IDLE;
+                                -- MEMORY FULL
+                                elsif (max_participant_addr = MAX_PARTICIPANT_ADDRESS) then
+                                    report "Memory Full, Ignoring Participant Data" severity NOTE;
+                                    -- Ignore Insertion
+                                    mem_stage_next  <= IDLE;
+                                    addr_res_next   <= MAX_ADDRESS;
+                                else
+                                    -- Extend Participant Memory Area
+                                    -- NOTE: "max_participant_addr" points to the first address of last participant frame
+                                    max_participant_addr_next   <= tmp;
+                                    -- Populate Participant Slot
+                                    mem_stage_next  <= INSERT_PARTICIPANT;
+                                    mem_addr_next   <= tmp;
+                                    addr_res_next   <= tmp;
+                                    mem_cnt_next    <= 0;
+                                end if;
+                            else
+                                -- Latch last occupied Participant Slot
+                                last_addr_next      <= mem_addr_base;
+                                -- Continue Search
+                                mem_addr_next       <= tmp;
+                                mem_addr_base_next  <= tmp;
+                                mem_cnt_next        <= 0;
+                            end if;
                         end if;
                     -- GUID Prefix 3/3
                     when 3 =>
                         -- Slot Occupied
                         if (mem_read_data /= GUIDPREFIX_UNKNOWN(2)) then
-                            -- Latch last occupied Participant Slot
-                            last_addr_next      <= mem_addr_base;
-                            -- Continue Search
-                            mem_addr_next       <= tmp;
-                            mem_addr_base_next  <= tmp;
-                            mem_cnt_next        <= 0;
+                            if (mem_addr_base = max_participant_addr) then
+                                -- We are in the middle of resetting the MAX Participant Pointer
+                                if (reset_max_pointer = '1') then
+                                    -- No Change
+                                    mem_stage_next  <= IDLE;
+                                -- MEMORY FULL
+                                elsif (max_participant_addr = MAX_PARTICIPANT_ADDRESS) then
+                                    report "Memory Full, Ignoring Participant Data" severity NOTE;
+                                    -- Ignore Insertion
+                                    mem_stage_next  <= IDLE;
+                                    addr_res_next   <= MAX_ADDRESS;
+                                else
+                                    -- Extend Participant Memory Area
+                                    -- NOTE: "max_participant_addr" points to the first address of last participant frame
+                                    max_participant_addr_next   <= tmp;
+                                    -- Populate Participant Slot
+                                    mem_stage_next  <= INSERT_PARTICIPANT;
+                                    mem_addr_next   <= tmp;
+                                    addr_res_next   <= tmp;
+                                    mem_cnt_next    <= 0;
+                                end if;
+                            else
+                                -- Latch last occupied Participant Slot
+                                last_addr_next      <= mem_addr_base;
+                                -- Continue Search
+                                mem_addr_next       <= tmp;
+                                mem_addr_base_next  <= tmp;
+                                mem_cnt_next        <= 0;
+                            end if;
                         -- Slot Empty
                         else
                             if (reset_max_pointer = '1') then