diff --git a/CMakeLists.txt b/CMakeLists.txt
index 99e34746..32762dd4 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.12)
 project(omplapp VERSION 1.6.0 LANGUAGES CXX)
 set(OMPL_ABI_VERSION 17)
 
@@ -15,26 +15,58 @@ endif()
 
 message(STATUS "Build type: ${CMAKE_BUILD_TYPE}")
 
-set(CMAKE_MODULE_PATH
-    "${CMAKE_MODULE_PATH}"
+list(APPEND CMAKE_MODULE_PATH
     "${CMAKE_ROOT_DIR}/cmake/Modules"
     "${CMAKE_CURRENT_SOURCE_DIR}/CMakeModules"
     "${CMAKE_CURRENT_SOURCE_DIR}/ompl/CMakeModules")
 include(GNUInstallDirs)
 include(FeatureSummary)
-include(CompilerSettings)
-include(OMPLUtils)
+# include(CompilerSettings)
+# include(OMPLUtils)
+
+option(USE_BUNDLED_OMPL "Use OMPL from subdirectory instead of system install" OFF)
+if(NOT USE_BUNDLED_OMPL)
+    find_package(ompl CONFIG QUIET)
+    if(ompl_FOUND)
+        message(STATUS "Using installed OMPL")
+    else()
+        message(WARNING "OMPL not found. Falling back to bundled OMPL")
+        set(USE_BUNDLED_OMPL ON CACHE BOOL "Use bundled OMPL" FORCE)
+    endif()
+endif()
+
+# Only include custom modules if OMPL is being built as subdirectory
+if(EXISTS "${CMAKE_CURRENT_SOURCE_DIR}/ompl/CMakeModules/CompilerSettings.cmake")
+    list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/ompl/CMakeModules")
+    include(CompilerSettings)
+    include(OMPLUtils)
+endif()
 
 set(CMAKE_RUNTIME_OUTPUT_DIRECTORY "${PROJECT_BINARY_DIR}/bin")
 set(CMAKE_LIBRARY_OUTPUT_DIRECTORY "${PROJECT_BINARY_DIR}/lib")
 
 set(OMPLAPP_INCLUDE_DIRS "${CMAKE_CURRENT_SOURCE_DIR}/src;${CMAKE_CURRENT_BINARY_DIR}/src")
 set(OMPLAPP_RESOURCE_DIR "${CMAKE_CURRENT_SOURCE_DIR}/resources")
-set(OMPL_INCLUDE_DIRS "${CMAKE_CURRENT_SOURCE_DIR}/ompl/src;${CMAKE_CURRENT_BINARY_DIR}/ompl/src")
+
+if(NOT USE_BUNDLED_OMPL)
+    # OMPL is installed, we use its targets
+    message(STATUS "Using installed OMPL")
+else()
+    # OMPL is bundled, we include manually
+    # include_directories("${CMAKE_CURRENT_SOURCE_DIR}/ompl/src")
+    set(OMPL_INCLUDE_DIRS "${CMAKE_CURRENT_SOURCE_DIR}/ompl/src;${CMAKE_CURRENT_BINARY_DIR}/ompl/src")
+    set(OMPL_CMAKE_UTIL_DIR "${CMAKE_CURRENT_SOURCE_DIR}/ompl/CMakeModules"
+        CACHE FILEPATH "Path to directory with auxiliary CMake scripts for OMPL")
+endif()
+
 set(OMPL_DEMO_INSTALL_DIR "${CMAKE_INSTALL_DATAROOTDIR}/ompl/demos"
-    CACHE STRING "Relative path to directory where demos will be installed")
-set(OMPL_CMAKE_UTIL_DIR "${CMAKE_CURRENT_SOURCE_DIR}/ompl/CMakeModules"
-    CACHE FILEPATH "Path to directory with auxiliary CMake scripts for OMPL")
+        CACHE STRING "Relative path to directory where demos will be installed")
+
+# set(OMPL_INCLUDE_DIRS "${CMAKE_CURRENT_SOURCE_DIR}/ompl/src;${CMAKE_CURRENT_BINARY_DIR}/ompl/src")
+# set(OMPL_DEMO_INSTALL_DIR "${CMAKE_INSTALL_DATAROOTDIR}/ompl/demos"
+#     CACHE STRING "Relative path to directory where demos will be installed")
+# set(OMPL_CMAKE_UTIL_DIR "${CMAKE_CURRENT_SOURCE_DIR}/ompl/CMakeModules"
+#     CACHE FILEPATH "Path to directory with auxiliary CMake scripts for OMPL")
 
 if(MSVC)
     add_definitions(-DBOOST_ALL_NO_LIB)
@@ -49,8 +81,7 @@ set_package_properties(Boost PROPERTIES
     URL "http://boost.org"
     PURPOSE "Used throughout OMPL for data serialization, graphs, etc.")
 set(Boost_USE_MULTITHREADED ON)
-set(Boost_NO_BOOST_CMAKE ON)
-find_package(Boost 1.58 QUIET REQUIRED COMPONENTS serialization filesystem system program_options)
+find_package(Boost 1.58 REQUIRED COMPONENTS serialization filesystem system program_options)
 
 # on macOS we need to check whether to use libc++ or libstdc++ with clang++
 if(CMAKE_CXX_COMPILER_ID MATCHES "^(Apple)?Clang$")
@@ -80,7 +111,15 @@ set_package_properties(Python PROPERTIES
 # This includes our own FindPython.cmake in ompl/CMakeModules. It defines,
 # among other things, the find_python_module() function used below.
 find_package(Python)
-find_boost_python()
+# find_boost_python()
+
+if(USE_BUNDLED_OMPL AND NOT TARGET docker)
+    include(OMPLUtils)
+    find_boost_python()
+    find_python_module(PyQt5 QUIET)
+else()
+    message(STATUS "Skipping internal OMPL Python utilities when using external OMPL install")
+endif()
 
 if(PYTHON_FOUND)
     set_package_properties(pypy PROPERTIES
@@ -88,23 +127,45 @@ if(PYTHON_FOUND)
         PURPOSE "Used to speed up the generation of python bindings.")
     find_package(pypy QUIET)
 endif()
-find_python_module(PyQt5 QUIET)
-if(NOT PY_PYQT5)
-    find_python_module(PySide2 QUIET)
-    if(NOT PY_PYSIDE2)
-        find_python_module(PyQt4 QUIET)
-        if(NOT PY_PYQT4)
-            find_python_module(PySide QUIET)
-            if (NOT PY_PYSIDE)
-                message(WARNING "Either PyQt5, PySide2, PyQt4 or PySide needs to be installed to use the GUI.")
+
+if(USE_BUNDLED_OMPL)
+    find_python_module(PyQt5 QUIET)
+    if(NOT PY_PYQT5)
+        find_python_module(PySide2 QUIET)
+        if(NOT PY_PYSIDE2)
+            find_python_module(PyQt4 QUIET)
+            if(NOT PY_PYQT4)
+                find_python_module(PySide QUIET)
+                if(NOT PY_PYSIDE)
+                    message(WARNING "Either PyQt5, PySide2, PyQt4 or PySide needs to be installed to use the GUI.")
+                endif()
             endif()
         endif()
     endif()
+
+    find_python_module(OpenGL)
+    if(NOT OPENGL_FOUND OR NOT PY_OPENGL)
+        message(WARNING "Both OpenGL and the Python OpenGL module need to be installed to use the GUI")
+    endif()
 endif()
-find_python_module(OpenGL)
-if (NOT OPENGL_FOUND OR NOT PY_OPENGL)
-    message(WARNING "Both OpenGL and the Python OpenGL module need to be installed to use the GUI")
-endif()
+
+# find_python_module(PyQt5 QUIET)
+# if(NOT PY_PYQT5)
+#     find_python_module(PySide2 QUIET)
+#     if(NOT PY_PYSIDE2)
+#         find_python_module(PyQt4 QUIET)
+#         if(NOT PY_PYQT4)
+#             find_python_module(PySide QUIET)
+#             if (NOT PY_PYSIDE)
+#                 message(WARNING "Either PyQt5, PySide2, PyQt4 or PySide needs to be installed to use the GUI.")
+#             endif()
+#         endif()
+#     endif()
+# endif()
+# find_python_module(OpenGL)
+# if (NOT OPENGL_FOUND OR NOT PY_OPENGL)
+#     message(WARNING "Both OpenGL and the Python OpenGL module need to be installed to use the GUI")
+# endif()
 set_package_properties(Eigen3 PROPERTIES
     URL "http://eigen.tuxfamily.org"
     PURPOSE "A linear algebra library used throughout OMPL.")
@@ -113,31 +174,39 @@ set_package_properties(Triangle PROPERTIES
     URL "http://www.cs.cmu.edu/~quake/triangle.html"
     PURPOSE "Used to create triangular decompositions of polygonal 2D environments.")
 find_package(Triangle QUIET)
+set(OMPL_EXTENSION_TRIANGLE ${TRIANGLE_FOUND})
+
 set_package_properties(flann PROPERTIES
     URL "https://github.com/mariusmuja/flann"
     PURPOSE "If detetected, FLANN can be used for nearest neighbor queries by OMPL.")
 find_package(flann CONFIG 1.9.2 QUIET)
+if (flann_FOUND)
+    set(OMPL_HAVE_FLANN 1)
+endif()
+
 set_package_properties(spot PROPERTIES
     URL "http://spot.lrde.epita.fr"
     PURPOSE "Used for constructing finite automata from LTL formulae.")
 find_package(spot)
+if (spot_FOUND)
+    set(OMPL_HAVE_SPOT 1)
+endif()
+
 set_package_properties(assimp PROPERTIES
     URL "http://assimp.org"
     PURPOSE "Used in ompl_app for reading meshes representing robots and environments.")
 find_package(assimp REQUIRED)
-set_package_properties(ccd PROPERTIES
-    URL "https://github.com/danfis/libccd"
-    PURPOSE "Collision detection library used by fcl.")
-find_package(ccd REQUIRED)
+
 set_package_properties(fcl PROPERTIES
     URL "https://github.com/flexible-collision-library/fcl"
     PURPOSE "The default collision checking library.")
-find_package(octomap QUIET)
 find_package(fcl REQUIRED)
+
 set_package_properties(Threads PROPERTIES
     URL "https://en.wikipedia.org/wiki/POSIX_Threads"
     PURPOSE "Pthreads is sometimes needed, depending on OS / compiler.")
 find_package(Threads QUIET)
+
 set_package_properties(Doxygen PROPERTIES
     URL "http://doxygen.org"
     PURPOSE "Used to create the OMPL documentation (i.e., http://ompl.kavrakilab.org).")
@@ -161,51 +230,44 @@ if(Boost_VERSION_STRING VERSION_LESS "1.63.0")
     include_directories("${CMAKE_CURRENT_SOURCE_DIR}/ompl/src/external")
 endif()
 
-include_directories(SYSTEM "${Boost_INCLUDE_DIR}")
-include_directories(
-    "${OMPLAPP_INCLUDE_DIRS}"
-    "${OMPL_INCLUDE_DIRS}"
-    "${EIGEN3_INCLUDE_DIR}"
-    "${FCL_INCLUDE_DIRS}"
-    "${ASSIMP_INCLUDE_DIRS}")
-
-# ROS installs fcl in /usr. In /usr/include/fcl/config.h it says octomap was
-# enabled. Octomap is installed in /opt/ros/${ROS_DISTRO}/include (most
-# likely), but fcl.pc doesn't have that information, so we just add it to the
-# include path.
-if(DEFINED ENV{ROS_DISTRO})
-    include_directories("/opt/ros/$ENV{ROS_DISTRO}/include")
+# include_directories(
+#     "${OMPLAPP_INCLUDE_DIRS}"
+#     "${OMPL_INCLUDE_DIRS}")
+
+if(OMPL_INCLUDE_DIRS)
+    include_directories("${OMPL_INCLUDE_DIRS}")
 endif()
 
+include_directories("${OMPLAPP_INCLUDE_DIRS}")
+
+
+
 set(OMPLAPP_MODULE_LIBRARIES
     ${OPENGL_LIBRARIES}
-    ${ASSIMP_LIBRARY}
-    ${FCL_LIBRARIES})
+    assimp::assimp
+    fcl::fcl)
 set(OMPLAPP_LIBRARIES
     ${OPENGL_LIBRARIES}
-    ${ASSIMP_LIBRARIES}
-    ${FCL_LIBRARIES})
-link_directories(${ASSIMP_LIBRARY_DIRS} ${CCD_LIBRARY_DIRS} ${OCTOMAP_LIBRARY_DIRS} ${FCL_LIBRARY_DIRS})
+    assimp::assimp
+    fcl)
 
 if (OPENGL_INCLUDE_DIR)
     include_directories("${OPENGL_INCLUDE_DIR}")
 endif()
 
-set(OMPL_EXTENSION_TRIANGLE ${TRIANGLE_FOUND})
-if (OMPL_EXTENSION_TRIANGLE)
-  include_directories(${TRIANGLE_INCLUDE_DIR})
-endif()
-
-if (flann_FOUND)
-    set(OMPL_HAVE_FLANN 1)
-endif()
-
-if (spot_FOUND)
-    set(OMPL_HAVE_SPOT 1)
-endif()
-
 # Numpy is used to convert Eigen matrices/vectors to numpy arrays
-if(PYTHON_FOUND AND NOT Boost_VERSION_STRING VERSION_LESS "1.63.0")
+# if(PYTHON_FOUND AND NOT Boost_VERSION_STRING VERSION_LESS "1.63.0")
+#     find_python_module(numpy)
+#     if (PY_NUMPY)
+#         find_boost_numpy()
+#         if(Boost_NUMPY_LIBRARY)
+#             set(OMPL_HAVE_NUMPY 1)
+#             include_directories("${PY_NUMPY}/core/include")
+#         endif()
+#     endif()
+# endif()
+
+if(USE_BUNDLED_OMPL AND PYTHON_FOUND AND NOT Boost_VERSION_STRING VERSION_LESS "1.63.0")
     find_python_module(numpy)
     if (PY_NUMPY)
         find_boost_numpy()
@@ -216,6 +278,7 @@ if(PYTHON_FOUND AND NOT Boost_VERSION_STRING VERSION_LESS "1.63.0")
     endif()
 endif()
 
+
 set_package_properties(PQP PROPERTIES
     URL "http://gamma.cs.unc.edu/SSV/"
     PURPOSE "Used as an alternative, additional collision checking library (the default is FCL).")
@@ -226,18 +289,53 @@ if(PQP_FOUND)
     set(OMPLAPP_LIBRARIES ${OMPLAPP_LIBRARIES} ${PQP_LIBRARY})
 endif()
 
-add_subdirectory(ompl/doc)
-add_subdirectory(ompl/src)
-add_subdirectory(ompl/py-bindings)
-add_subdirectory(ompl/tests)
-add_subdirectory(ompl/demos)
-add_subdirectory(ompl/scripts)
+# find_package(ompl CONFIG QUIET)
+
+if(NOT ompl_FOUND)
+    message(WARNING "Installed OMPL not found. Falling back to building bundled OMPL.")
+
+    set(OMPL_BUILD_PYBINDINGS OFF CACHE BOOL "Disable Python bindings in OMPL")
+    add_subdirectory(ompl/doc)
+    add_subdirectory(ompl/src)
+    add_subdirectory(ompl/py-bindings)
+    add_subdirectory(ompl/tests)
+    add_subdirectory(ompl/demos)
+    add_subdirectory(ompl/scripts)
+    set(USE_BUNDLED_OMPL TRUE)
+else()
+    set(USE_BUNDLED_OMPL FALSE)
+endif()
+
+if(NOT USE_BUNDLED_OMPL)
+    function(install_python)
+        # No-op macro when using installed OMPL
+    endfunction()
+endif()
+
+if(NOT USE_BUNDLED_OMPL)
+    function(target_link_flags)
+        # noop fallback for external OMPL installs
+    endfunction()
+endif()
+
+
+# add_subdirectory(ompl/doc)
+# add_subdirectory(ompl/src)
+# add_subdirectory(ompl/py-bindings)
+# add_subdirectory(ompl/tests)
+# add_subdirectory(ompl/demos)
+# add_subdirectory(ompl/scripts)
 add_subdirectory(gui)
 add_subdirectory(doc)
 add_subdirectory(src)
 add_subdirectory(demos)
 add_subdirectory(benchmark)
-add_subdirectory(py-bindings)
+# add_subdirectory(py-bindings)
+
+if(USE_BUNDLED_OMPL)
+  add_subdirectory(py-bindings)
+endif()
+
 
 install(DIRECTORY resources
     DESTINATION "${CMAKE_INSTALL_DATAROOTDIR}/ompl"
@@ -264,11 +362,12 @@ if(OMPL_BUILD_PYBINDINGS)
     endif()
 endif()
 
-if(OPENGL_FOUND AND NOT MSVC)
+# if(OPENGL_FOUND AND NOT MSVC)
+if(OPENGL_FOUND AND NOT MSVC AND USE_BUNDLED_OMPL)
     target_link_flags(ompl ompl_app_base ompl_app)
     set(PKG_NAME "ompl")
     set(PKG_DESC "The Open Motion Planning Library")
-    set(PKG_EXTERNAL_DEPS "eigen3 ${ompl_PKG_DEPS}")
+    set(PKG_EXTERNAL_DEPS "${ompl_PKG_DEPS}")
     set(PKG_OMPL_LIBS "-lompl -lompl_app_base -lompl_app ${ompl_LINK_FLAGS}")
     configure_file("${CMAKE_CURRENT_SOURCE_DIR}/ompl/CMakeModules/ompl.pc.in"
                    "${CMAKE_CURRENT_BINARY_DIR}/ompl.pc" @ONLY)
@@ -277,34 +376,54 @@ if(OPENGL_FOUND AND NOT MSVC)
         COMPONENT ompl)
 endif()
 
-include(CMakePackageConfigHelpers)
+# include(CMakePackageConfigHelpers)
 set(INCLUDE_INSTALL_DIR ${CMAKE_INSTALL_INCLUDEDIR})
 set(LIB_INSTALL_DIR ${CMAKE_INSTALL_LIBDIR})
-configure_package_config_file(ompl/omplConfig.cmake.in
-    ${CMAKE_CURRENT_BINARY_DIR}/omplConfig.cmake
-    INSTALL_DESTINATION ${CMAKE_INSTALL_DATAROOTDIR}/ompl/cmake
-    PATH_VARS INCLUDE_INSTALL_DIR LIB_INSTALL_DIR
-    NO_CHECK_REQUIRED_COMPONENTS_MACRO)
-write_basic_package_version_file(
-    ${CMAKE_CURRENT_BINARY_DIR}/omplConfigVersion.cmake
-    VERSION ${PROJECT_VERSION}
-    COMPATIBILITY SameMajorVersion)
-install(FILES ${CMAKE_CURRENT_BINARY_DIR}/omplConfig.cmake
-    ${CMAKE_CURRENT_BINARY_DIR}/omplConfigVersion.cmake
-    DESTINATION ${CMAKE_INSTALL_DATAROOTDIR}/ompl/cmake
-    COMPONENT ompl)
+# configure_package_config_file(ompl/omplConfig.cmake.in
+#     ${CMAKE_CURRENT_BINARY_DIR}/omplConfig.cmake
+#     INSTALL_DESTINATION ${CMAKE_INSTALL_DATAROOTDIR}/ompl/cmake
+#     PATH_VARS INCLUDE_INSTALL_DIR LIB_INSTALL_DIR
+#     NO_CHECK_REQUIRED_COMPONENTS_MACRO)
+# write_basic_package_version_file(
+#     ${CMAKE_CURRENT_BINARY_DIR}/omplConfigVersion.cmake
+#     VERSION ${PROJECT_VERSION}
+#     COMPATIBILITY SameMajorVersion)
+# install(FILES ${CMAKE_CURRENT_BINARY_DIR}/omplConfig.cmake
+#     ${CMAKE_CURRENT_BINARY_DIR}/omplConfigVersion.cmake
+#     DESTINATION ${CMAKE_INSTALL_DATAROOTDIR}/ompl/cmake
+#     COMPONENT ompl)
+# install(TARGETS ompl
+#     EXPORT omplExport
+#     DESTINATION ${CMAKE_INSTALL_LIBDIR}
+#     COMPONENT ompl)
+
+install(TARGETS ompl_app_base
+    EXPORT omplExport
+    DESTINATION ${CMAKE_INSTALL_LIBDIR}
+    COMPONENT omplapp)
+if(TARGET ompl_app)
+    install(TARGETS ompl_app
+        EXPORT omplExport
+        DESTINATION ${CMAKE_INSTALL_LIBDIR}
+        COMPONENT omplapp)
+endif()
+# install(EXPORT omplExport
+#     NAMESPACE ompl::
+#     DESTINATION ${CMAKE_INSTALL_DATAROOTDIR}/ompl/cmake)
+# export(EXPORT omplExport
+#     FILE "${CMAKE_CURRENT_BINARY_DIR}/omplExport.cmake")
 
 # script to install ompl on Ubuntu
-configure_file("${CMAKE_CURRENT_SOURCE_DIR}/ompl/install-ompl-ubuntu.sh.in"
-  "${CMAKE_CURRENT_BINARY_DIR}/install-ompl-ubuntu.sh" @ONLY)
+# configure_file("${CMAKE_CURRENT_SOURCE_DIR}/ompl/install-ompl-ubuntu.sh.in"
+#   "${CMAKE_CURRENT_BINARY_DIR}/install-ompl-ubuntu.sh" @ONLY)
 
 # uninstall target
-configure_file(
-    "${CMAKE_CURRENT_SOURCE_DIR}/ompl/CMakeModules/cmake_uninstall.cmake.in"
-    "${CMAKE_CURRENT_BINARY_DIR}/cmake_uninstall.cmake"
-    IMMEDIATE @ONLY)
-add_custom_target(uninstall
-    COMMAND ${CMAKE_COMMAND} -P "${CMAKE_CURRENT_BINARY_DIR}/cmake_uninstall.cmake")
+# configure_file(
+#     "${CMAKE_CURRENT_SOURCE_DIR}/ompl/CMakeModules/cmake_uninstall.cmake.in"
+#     "${CMAKE_CURRENT_BINARY_DIR}/cmake_uninstall.cmake"
+#     IMMEDIATE @ONLY)
+# add_custom_target(uninstall
+#     COMMAND ${CMAKE_COMMAND} -P "${CMAKE_CURRENT_BINARY_DIR}/cmake_uninstall.cmake")
 
 include(CPackSettings)
 
@@ -344,6 +463,58 @@ endif()
 
 # Create targets for building docker images
 # See ompl/CMakeModules/OMPLUtils.cmake and ompl/scripts/docker for details
-add_docker_target(ompl ompl)
-add_docker_target(plannerarena ompl/scripts)
-add_docker_target(omplapp)
+# add_docker_target(ompl ompl)
+# add_docker_target(plannerarena ompl/scripts)
+# add_docker_target(omplapp)
+if(USE_BUNDLED_OMPL)
+    # Install script for Ubuntu
+    configure_file("${CMAKE_CURRENT_SOURCE_DIR}/ompl/install-ompl-ubuntu.sh.in"
+      "${CMAKE_CURRENT_BINARY_DIR}/install-ompl-ubuntu.sh" @ONLY)
+
+    # Uninstall target
+    configure_file(
+        "${CMAKE_CURRENT_SOURCE_DIR}/ompl/CMakeModules/cmake_uninstall.cmake.in"
+        "${CMAKE_CURRENT_BINARY_DIR}/cmake_uninstall.cmake"
+        IMMEDIATE @ONLY)
+    add_custom_target(uninstall
+        COMMAND ${CMAKE_COMMAND} -P "${CMAKE_CURRENT_BINARY_DIR}/cmake_uninstall.cmake")
+
+    # .pc file for pkg-config
+    configure_file("${CMAKE_CURRENT_SOURCE_DIR}/ompl/CMakeModules/ompl.pc.in"
+        "${CMAKE_CURRENT_BINARY_DIR}/ompl.pc" @ONLY)
+    install(FILES "${CMAKE_CURRENT_BINARY_DIR}/ompl.pc"
+        DESTINATION "${CMAKE_INSTALL_LIBDIR}/pkgconfig"
+        COMPONENT ompl)
+
+    # CMake config files
+    include(CMakePackageConfigHelpers)
+    configure_package_config_file(
+        ompl/omplConfig.cmake.in
+        ${CMAKE_CURRENT_BINARY_DIR}/omplConfig.cmake
+        INSTALL_DESTINATION ${CMAKE_INSTALL_DATAROOTDIR}/ompl/cmake
+        PATH_VARS INCLUDE_INSTALL_DIR LIB_INSTALL_DIR
+        NO_CHECK_REQUIRED_COMPONENTS_MACRO)
+
+    write_basic_package_version_file(
+        ${CMAKE_CURRENT_BINARY_DIR}/omplConfigVersion.cmake
+        VERSION ${PROJECT_VERSION}
+        COMPATIBILITY SameMajorVersion)
+
+    install(FILES
+        ${CMAKE_CURRENT_BINARY_DIR}/omplConfig.cmake
+        ${CMAKE_CURRENT_BINARY_DIR}/omplConfigVersion.cmake
+        DESTINATION ${CMAKE_INSTALL_DATAROOTDIR}/ompl/cmake
+        COMPONENT ompl)
+
+    install(TARGETS ompl EXPORT omplExport DESTINATION ${CMAKE_INSTALL_LIBDIR} COMPONENT ompl)
+    install(EXPORT omplExport
+        NAMESPACE ompl::
+        DESTINATION ${CMAKE_INSTALL_DATAROOTDIR}/ompl/cmake)
+    export(EXPORT omplExport
+        FILE "${CMAKE_CURRENT_BINARY_DIR}/omplExport.cmake")
+
+    # Docker targets
+    add_docker_target(ompl ompl)
+    add_docker_target(plannerarena ompl/scripts)
+    add_docker_target(omplapp)
+endif()
diff --git a/CMakeModules/Findccd.cmake b/CMakeModules/Findccd.cmake
deleted file mode 100644
index 21a6bf20..00000000
--- a/CMakeModules/Findccd.cmake
+++ /dev/null
@@ -1,9 +0,0 @@
-include(FindPackageHandleStandardArgs)
-find_package(PkgConfig)
-if(PKGCONFIG_FOUND)
-    pkg_check_modules(CCD ccd>=2.0)
-    if(CCD_LIBRARIES AND NOT CCD_INCLUDE_DIRS)
-        set(CCD_INCLUDE_DIRS "/usr/include")
-    endif()
-endif()
-find_package_handle_standard_args(ccd DEFAULT_MSG CCD_LIBRARIES CCD_INCLUDE_DIRS)
diff --git a/CMakeModules/Findfcl.cmake b/CMakeModules/Findfcl.cmake
deleted file mode 100644
index f7961c29..00000000
--- a/CMakeModules/Findfcl.cmake
+++ /dev/null
@@ -1,18 +0,0 @@
-include(FindPackageHandleStandardArgs)
-
-# vcpkg and MacPorts install cmake config files for fcl
-find_package(fcl QUIET CONFIG)
-if(TARGET fcl)
-    get_target_property(FCL_INCLUDE_DIRS fcl INTERFACE_INCLUDE_DIRECTORIES)
-    set(FCL_LIBRARIES "fcl")
-else()
-    find_package(PkgConfig)
-    if(PKGCONFIG_FOUND)
-        pkg_check_modules(FCL fcl>=0.3.1)
-        if(FCL_LIBRARIES AND NOT FCL_INCLUDE_DIRS)
-            set(FCL_INCLUDE_DIRS "/usr/include")
-        endif()
-    endif()
-endif()
-
-find_package_handle_standard_args(fcl DEFAULT_MSG FCL_LIBRARIES FCL_INCLUDE_DIRS)
diff --git a/README.md b/README.md
index 34d5a2f3..e2045e08 100644
--- a/README.md
+++ b/README.md
@@ -13,7 +13,7 @@ detailed installation instructions.
 OMPL.app has the following required dependencies:
 
 * [Boost](https://www.boost.org) (version 1.58 or higher)
-* [CMake](https://www.cmake.org) (version 3.5 or higher)
+* [CMake](https://www.cmake.org) (version 3.12 or higher)
 * [Eigen](http://eigen.tuxfamily.org) (version 3.3 or higher)
 * [Assimp](http://assimp.org) (version 3.0.1270 or higher)
 * [FCL](https://github.com/flexible-collision-library/fcl) (version 0.3.1 or higher)
diff --git a/benchmark/CMakeLists.txt b/benchmark/CMakeLists.txt
index 7da2b7f5..1c7b0136 100644
--- a/benchmark/CMakeLists.txt
+++ b/benchmark/CMakeLists.txt
@@ -1,6 +1,6 @@
 add_executable(ompl_benchmark
     CFGBenchmark.cpp BenchmarkOptions.cpp BenchmarkTypes.cpp benchmark.cpp)
-target_link_libraries(ompl_benchmark ${OMPLAPP_LIBRARIES} ompl ompl_app_base ${Boost_PROGRAM_OPTIONS_LIBRARY})
+target_link_libraries(ompl_benchmark ${OMPLAPP_LIBRARIES} ompl ompl_app_base Boost::program_options)
 install(TARGETS ompl_benchmark
     RUNTIME DESTINATION ${CMAKE_INSTALL_BINDIR}
     COMPONENT omplapp
diff --git a/ompl b/ompl
index 1aed811a..af4d6d62 160000
--- a/ompl
+++ b/ompl
@@ -1 +1 @@
-Subproject commit 1aed811a0f23023246c576338aab1d45d2ebc517
+Subproject commit af4d6d625e15a4ed6d85255c718ce26bcd79e4cc
diff --git a/py-bindings/CMakeLists.txt b/py-bindings/CMakeLists.txt
index 698c94bd..dcfbab4f 100644
--- a/py-bindings/CMakeLists.txt
+++ b/py-bindings/CMakeLists.txt
@@ -1,24 +1,26 @@
-include(PythonBindingsUtils)
+if(USE_BUNDLED_OMPL)
+  include(PythonBindingsUtils)
 
-# copy app module __init__.py
-execute_process(COMMAND "${CMAKE_COMMAND}" -E copy_if_different
-    "${CMAKE_CURRENT_SOURCE_DIR}/app/__init__.py"
-    "${CMAKE_SOURCE_DIR}/ompl/py-bindings/ompl/app/__init__.py")
+  # copy app module __init__.py
+  execute_process(COMMAND "${CMAKE_COMMAND}" -E copy_if_different
+      "${CMAKE_CURRENT_SOURCE_DIR}/app/__init__.py"
+      "${CMAKE_SOURCE_DIR}/ompl/py-bindings/ompl/app/__init__.py")
 
-if(OMPL_BUILD_PYBINDINGS)
-    if(PY_OMPL_GENERATE)
-        create_module_generation_targets(app)
-        add_dependencies(update_app_bindings update_geometric_bindings update_control_bindings)
-    endif(PY_OMPL_GENERATE)
+  if(OMPL_BUILD_PYBINDINGS)
+      if(PY_OMPL_GENERATE)
+          create_module_generation_targets(app)
+          add_dependencies(update_app_bindings update_geometric_bindings update_control_bindings)
+      endif()
 
-    if(PY_OMPL_COMPILE AND EXISTS "${CMAKE_CURRENT_BINARY_DIR}/bindings")
-        create_module_target(app
-            "${CMAKE_CURRENT_SOURCE_DIR}/../ompl/py-bindings/ompl" ompl_app)
-    endif()
-endif(OMPL_BUILD_PYBINDINGS)
+      if(PY_OMPL_COMPILE AND EXISTS "${CMAKE_CURRENT_BINARY_DIR}/bindings")
+          create_module_target(app
+              "${CMAKE_CURRENT_SOURCE_DIR}/../ompl/py-bindings/ompl" ompl_app)
+      endif()
+  endif()
 
-add_custom_target(clean_app_bindings
-    "${CMAKE_COMMAND}" -E remove_directory "${CMAKE_CURRENT_BINARY_DIR}/bindings"
-    COMMAND "${CMAKE_COMMAND}" -E remove -f pyplusplus_app.{cache,log}
-    WORKING_DIRECTORY "${PROJECT_BINARY_DIR}")
-add_dependencies(clean_bindings clean_app_bindings)
+  add_custom_target(clean_app_bindings
+      "${CMAKE_COMMAND}" -E remove_directory "${CMAKE_CURRENT_BINARY_DIR}/bindings"
+      COMMAND "${CMAKE_COMMAND}" -E remove -f pyplusplus_app.{cache,log}
+      WORKING_DIRECTORY "${PROJECT_BINARY_DIR}")
+  add_dependencies(clean_bindings clean_app_bindings)
+endif()
diff --git a/src/omplapp/CMakeLists.txt b/src/omplapp/CMakeLists.txt
index 2d0c8e5c..951bb321 100644
--- a/src/omplapp/CMakeLists.txt
+++ b/src/omplapp/CMakeLists.txt
@@ -38,9 +38,6 @@ foreach(_target ${OMPLAPP_TARGETS})
         set_target_properties(${_target} PROPERTIES VERSION "${PROJECT_VERSION}" SOVERSION "${OMPL_ABI_VERSION}")
     endif(WIN32)
 
-    install(TARGETS ${_target}
-        DESTINATION ${CMAKE_INSTALL_LIBDIR}
-        COMPONENT omplapp)
     if(NOT MSVC)
         add_custom_command(TARGET ${_target} POST_BUILD
         COMMAND ${CMAKE_COMMAND} -E copy "$<TARGET_FILE:${_target}>"