diff --git a/CMakeLists.txt b/CMakeLists.txt
index 8fb4912c9d442e1a07f0b78d8b3ca61d0fccaab8..e9dbd5eb160ea98fae6e971a21a66c0380681416 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -40,14 +40,14 @@ SET(DOXYGEN_TREEVIEW "NO" CACHE STRING "Set to YES to generate a tree view in th
 SET(HPP_MANIPULATION_HAS_WHOLEBODY_STEP TRUE
   CACHE BOOL "Compile with dependency to hpp-wholebody-step")
 
-SET(BOOST_COMPONENTS unit_test_framework regex)
+ADD_PROJECT_DEPENDENCY(Boost REQUIRED COMPONENTS regex)
 
-SEARCH_FOR_BOOST()
 ADD_PROJECT_DEPENDENCY("hpp-core" REQUIRED)
 IF(HPP_MANIPULATION_HAS_WHOLEBODY_STEP)
   ADD_PROJECT_DEPENDENCY("hpp-wholebody-step" REQUIRED)
 ENDIF()
 IF(BUILD_TESTING)
+  FIND_PACKAGE(Boost REQUIRED COMPONENTS unit_test_framework)
   ADD_PROJECT_DEPENDENCY("example-robot-data" REQUIRED)
 ENDIF()
 
@@ -145,7 +145,7 @@ ENDIF(HPP_MANIPULATION_HAS_WHOLEBODY_STEP)
 
 ADD_LIBRARY(${PROJECT_NAME} SHARED ${${PROJECT_NAME}_SOURCES} ${${PROJECT_NAME}_HEADERS})
 TARGET_INCLUDE_DIRECTORIES(${PROJECT_NAME} PUBLIC $<INSTALL_INTERFACE:include>)
-TARGET_LINK_LIBRARIES(${PROJECT_NAME} hpp-core::hpp-core ${Boost_REGEX_LIBRARY})
+TARGET_LINK_LIBRARIES(${PROJECT_NAME} hpp-core::hpp-core Boost::regex)
 IF(HPP_MANIPULATION_HAS_WHOLEBODY_STEP)
   TARGET_LINK_LIBRARIES(${PROJECT_NAME} hpp-wholebody-step::hpp-wholebody-step)
 ENDIF(HPP_MANIPULATION_HAS_WHOLEBODY_STEP)
diff --git a/cmake b/cmake
index 72cf8cdefcf8cde818745ad7998122bde0b54734..32015cb28d977b592227675665d17d11531ef418 160000
--- a/cmake
+++ b/cmake
@@ -1 +1 @@
-Subproject commit 72cf8cdefcf8cde818745ad7998122bde0b54734
+Subproject commit 32015cb28d977b592227675665d17d11531ef418
diff --git a/tests/CMakeLists.txt b/tests/CMakeLists.txt
index fadf505acd7ef201ed7ab8e006dd38dce424503f..673a1be583302d79bc8e979c30eab0efdddaa0e2 100644
--- a/tests/CMakeLists.txt
+++ b/tests/CMakeLists.txt
@@ -19,4 +19,4 @@
 ADD_DEFINITIONS(-DBOOST_TEST_DYN_LINK -DBOOST_TEST_MAIN)
 
 ADD_UNIT_TEST(test-constraintgraph test-constraintgraph.cc)
-TARGET_LINK_LIBRARIES(test-constraintgraph ${PROJECT_NAME} ${Boost_LIBRARIES})
+TARGET_LINK_LIBRARIES(test-constraintgraph ${PROJECT_NAME} Boost::unit_test_framework)