diff --git a/Makefile b/Makefile
index d7153c0b2ff577a29391c752fdbadd0da9ce2719..f6db7a2e25dfd627ca86f160b10c1d528b3d68bb 100644
--- a/Makefile
+++ b/Makefile
@@ -62,7 +62,6 @@ SUBDIR+= octovis
SUBDIR+= ompl
SUBDIR+= openhrp3-hrp2
SUBDIR+= openhrp3-simulator-wo-rtm
-SUBDIR+= orocos-bfl
SUBDIR+= orocos-dot_service
SUBDIR+= orocos-yarp_transport
SUBDIR+= osg-dae
diff --git a/orocos-bfl/DESCR b/orocos-bfl/DESCR
deleted file mode 100644
index 8f85892f4cadc0e66518747666800c29760439b4..0000000000000000000000000000000000000000
--- a/orocos-bfl/DESCR
+++ /dev/null
@@ -1 +0,0 @@
-The Bayesian Filtering Library (BFL) provides an application independent framework for inference in Dynamic Bayesian Networks, i.e., recursive information processing and estimation algorithms based on Bayes' rule, such as (Extended) Kalman Filters, Particle Filters (or Sequential Monte Carlo methods), etc.
diff --git a/orocos-bfl/Makefile b/orocos-bfl/Makefile
deleted file mode 100644
index a17f9745dc6d3d3df01420e7ddb19153959d45fc..0000000000000000000000000000000000000000
--- a/orocos-bfl/Makefile
+++ /dev/null
@@ -1,41 +0,0 @@
-# robotpkg depend.mk for: math/orocos-bfl
-# Created: Charles Lesire on Mon, 6 Jan 2014
-
-# package description
-NAME= orocos-bfl
-DISTNAME= ${NAME}-${VERSION}
-VERSION= 0.8.0
-CATEGORIES= math
-MASTER_SITES= http://people.mech.kuleuven.be/~tdelaet/bfl_tar/
-EXTRACT_SUFX= -src.tar.bz2
-
-MAINTAINER= klaas.gadeyne@gmail.com, tinne.delaet@mech.kuleuven.be
-COMMENT= The Bayesian Filtering Library
-LICENSE= gnu-lgpl-v2
-
-# options
-#PKG_SUPPORTED_OPTIONS+= orocos
-#PKG_OPTION_DESCR.orocos?= Install Orocos RTT plugin
-#define PKG_OPTION_SET.orocos
-# CMAKE_ARGS+= -DOROCOS_PLUGIN=ON
-# CMAKE_ARGS+= -DOROCOS_INSTALL=${PREFIX.orocos-rtt}
-# include ../../middleware/orocos-rtt/depend.mk
-#endef
-#PKG_OPTION_UNSET.doc= CMAKE_ARGS+=--DOROCOS_PLUGIN=OFF
-
-# dependencies
-CMAKE_ARGS+= -DBOOST_INCLUDEDIR=${PREFIX.boost-headers}/include
-CMAKE_ARGS+= -DBOOST_LIBDIR=${PREFIX.boost-libs}/include
-
-DEPEND_ABI.boost-libs= boost-libs>=1.46.1
-DEPEND_ABI.boost-headers=boost-headers>=1.46.1
-
-include ../../devel/boost-headers/depend.mk
-include ../../devel/boost-libs/depend.mk
-include ../../mk/sysdep/cppunit.mk
-include ../../mk/sysdep/cmake.mk
-include ../../mk/language/c++.mk
-include ../../mk/language/c.mk
-include ../../pkgtools/pkg-config/depend.mk
-include ../../mk/robotpkg.mk
-
diff --git a/orocos-bfl/PLIST b/orocos-bfl/PLIST
deleted file mode 100644
index 4f52fac195e81a57ed4836f1e5ef580b6236a4be..0000000000000000000000000000000000000000
--- a/orocos-bfl/PLIST
+++ /dev/null
@@ -1,76 +0,0 @@
-@comment Mon Jan 6 11:06:42 CET 2014
-bin/bfl/test_compare_filters
-bin/bfl/test_discrete_filter
-bin/bfl/test_kalman_smoother
-bin/bfl/test_linear_kalman
-bin/bfl/test_nonlinear_kalman
-bin/bfl/test_nonlinear_particle
-include/bfl/bfl_constants.h
-include/bfl/bfl_err.h
-include/bfl/filter/EKparticlefilter.h
-include/bfl/filter/SRiteratedextendedkalmanfilter.h
-include/bfl/filter/asirfilter.cpp
-include/bfl/filter/asirfilter.h
-include/bfl/filter/bootstrapfilter.cpp
-include/bfl/filter/bootstrapfilter.h
-include/bfl/filter/extendedkalmanfilter.h
-include/bfl/filter/filter.cpp
-include/bfl/filter/filter.h
-include/bfl/filter/histogramfilter.cpp
-include/bfl/filter/histogramfilter.h
-include/bfl/filter/innovationCheck.h
-include/bfl/filter/iteratedextendedkalmanfilter.h
-include/bfl/filter/kalmanfilter.h
-include/bfl/filter/mixtureBootstrapFilter.cpp
-include/bfl/filter/mixtureBootstrapFilter.h
-include/bfl/filter/mixtureParticleFilter.cpp
-include/bfl/filter/mixtureParticleFilter.h
-include/bfl/filter/particlefilter.cpp
-include/bfl/filter/particlefilter.h
-include/bfl/model/analyticmeasurementmodel_gaussianuncertainty.h
-include/bfl/model/analyticsystemmodel_gaussianuncertainty.h
-include/bfl/model/discretesystemmodel.h
-include/bfl/model/linearanalyticmeasurementmodel_gaussianuncertainty.h
-include/bfl/model/linearanalyticmeasurementmodel_gaussianuncertainty_implicit.h
-include/bfl/model/linearanalyticsystemmodel_gaussianuncertainty.h
-include/bfl/model/measurementmodel.cpp
-include/bfl/model/measurementmodel.h
-include/bfl/model/systemmodel.cpp
-include/bfl/model/systemmodel.h
-include/bfl/pdf/EKF_proposaldensity.h
-include/bfl/pdf/analyticconditionalgaussian.h
-include/bfl/pdf/analyticconditionalgaussian_additivenoise.h
-include/bfl/pdf/conditionalgaussian.h
-include/bfl/pdf/conditionalgaussian_additivenoise.h
-include/bfl/pdf/conditionalpdf.h
-include/bfl/pdf/discreteconditionalpdf.h
-include/bfl/pdf/discretepdf.h
-include/bfl/pdf/filterproposaldensity.h
-include/bfl/pdf/gaussian.h
-include/bfl/pdf/linearanalyticconditionalgaussian.h
-include/bfl/pdf/mcpdf.cpp
-include/bfl/pdf/mcpdf.h
-include/bfl/pdf/mixture.cpp
-include/bfl/pdf/mixture.h
-include/bfl/pdf/pdf.h
-include/bfl/pdf/uniform.h
-include/bfl/sample/sample.cpp
-include/bfl/sample/sample.h
-include/bfl/sample/weightedsample.h
-include/bfl/smoother/backwardfilter.cpp
-include/bfl/smoother/backwardfilter.h
-include/bfl/smoother/particlesmoother.cpp
-include/bfl/smoother/particlesmoother.h
-include/bfl/smoother/rauchtungstriebel.h
-include/bfl/wrappers/config.h
-include/bfl/wrappers/matrix/matrix_BOOST.h
-include/bfl/wrappers/matrix/matrix_LTI.h
-include/bfl/wrappers/matrix/matrix_NEWMAT.h
-include/bfl/wrappers/matrix/matrix_wrapper.h
-include/bfl/wrappers/matrix/vector_BOOST.h
-include/bfl/wrappers/matrix/vector_LTI.h
-include/bfl/wrappers/matrix/vector_NEWMAT.h
-include/bfl/wrappers/matrix/vector_wrapper.h
-include/bfl/wrappers/rng/rng.h
-lib/liborocos-bfl.so
-lib/pkgconfig/orocos-bfl.pc
diff --git a/orocos-bfl/depend.mk b/orocos-bfl/depend.mk
deleted file mode 100644
index 8074937289917411d34ae75771c78dbfea10ee50..0000000000000000000000000000000000000000
--- a/orocos-bfl/depend.mk
+++ /dev/null
@@ -1,26 +0,0 @@
-# robotpkg depend.mk for: math/orocos-bfl
-# Created: Charles Lesire on Mon, 6 Jan 2014
-#
-
-DEPEND_DEPTH:= ${DEPEND_DEPTH}+
-LIBHTN_DEPEND_MK:=${LIBHTN_DEPEND_MK}+
-
-ifeq (+,$(DEPEND_DEPTH))
-DEPEND_PKG+= orocos-bfl
-endif
-
-ifeq (+,$(LIBHTN_DEPEND_MK))
-PREFER.orocos-bfl?= robotpkg
-
-DEPEND_USE+= orocos-bfl
-
-DEPEND_ABI.orocos-bfl?= orocos-bfl>=0.8
-DEPEND_DIR.orocos-bfl?= ../../onera/orocos-bfl
-
-SYSTEM_SEARCH.orocos-bfl= \
- include/bfl/bfl_constants.h \
- lib/liborocos-bfl.so \
- lib/pkgconfig/orocos-bfl.pc
-endif
-
-DEPEND_DEPTH:= ${DEPEND_DEPTH:+=}
diff --git a/orocos-bfl/distinfo b/orocos-bfl/distinfo
deleted file mode 100644
index 8350260c0a51e218c3e1a3c7c9bbc47f9af2d604..0000000000000000000000000000000000000000
--- a/orocos-bfl/distinfo
+++ /dev/null
@@ -1,3 +0,0 @@
-SHA1 (orocos-bfl-0.8.0-src.tar.bz2) = 839e54fe3b35f2f0597277ec543f3d9796c24c36
-RMD160 (orocos-bfl-0.8.0-src.tar.bz2) = 2364410e9523dcf2a6468cbae925c75e771fb702
-Size (orocos-bfl-0.8.0-src.tar.bz2) = 212899 bytes