diff --git a/.travis.yml b/.travis.yml
index b4b0109aca0251acbb2a1cb14e6078b71a0b79e8..7aa7f3f79eb4b196bdd73f72cc5ca2e5423606cc 100644
--- a/.travis.yml
+++ b/.travis.yml
@@ -17,29 +17,60 @@ matrix:
       env: BUILD_TYPE=Debug
       dist: xenial
       compiler: g++
+      addons:
+        apt:
+          packages:
+            - liboctomap-dev
     - name: "Xenial - Release - g++"
       env: BUILD_TYPE=Release
       dist: xenial
       compiler: g++
+      addons:
+        apt:
+          packages:
+            - liboctomap-dev
     - name: "Xenial - Debug - clang"
       env: BUILD_TYPE=Debug
       dist: xenial
       compiler: clang
+      addons:
+        apt:
+          packages:
+            - liboctomap-dev
 
     - name: "Bionic - Debug - g++"
       env: BUILD_TYPE=Debug
       dist: xenial
       compiler: g++
+      addons:
+        apt:
+          packages:
+            - liboctomap-dev
 
     - name: "OSX - Debug - clang"
       env: BUILD_TYPE=Debug
       os: osx
       compiler: clang
 
-install:
-  # Install dependencies for FCL
-  - if [ "$TRAVIS_OS_NAME" = "linux" ]; then 'ci/install_linux.sh' ; fi
-  - if [ "$TRAVIS_OS_NAME" = "osx"   ]; then 'ci/install_osx.sh'   ; fi
+addons:
+  apt:
+    packages:
+      - cmake
+      - libboost-all-dev
+      - libassimp-dev
+      - libeigen3-dev
+      - liboctomap-dev
+
+  homebrew:
+    taps: homebrew/science
+    packages:
+      - git
+      - cmake
+      - boost
+      - libccd
+      - assimp
+      - eigen
+      - octomap
 
 script:
   # Create build directory
diff --git a/ci/install_linux.sh b/ci/install_linux.sh
deleted file mode 100755
index db894789de15500662bb69b03a187bdc8c287af8..0000000000000000000000000000000000000000
--- a/ci/install_linux.sh
+++ /dev/null
@@ -1,20 +0,0 @@
-sudo apt-get -qq update
-
-########################
-# Mendatory dependencies
-########################
-sudo apt-get -qq --yes --force-yes install cmake
-sudo apt-get -qq --yes --force-yes install libboost-all-dev
-sudo apt-get -qq --yes --force-yes install libassimp-dev
-sudo apt-get -qq --yes --force-yes install libeigen3-dev
-
-# Octomap
-git clone https://github.com/OctoMap/octomap
-cd octomap
-git checkout tags/v1.8.0
-mkdir build
-cd build
-cmake ..
-make
-sudo make install
-
diff --git a/ci/install_osx.sh b/ci/install_osx.sh
deleted file mode 100755
index 9f90326aad01b93f0d96bb99646271cd22e9affe..0000000000000000000000000000000000000000
--- a/ci/install_osx.sh
+++ /dev/null
@@ -1,9 +0,0 @@
-brew tap homebrew/science
-
-brew install git
-brew install cmake
-brew install boost
-brew install libccd
-brew install assimp
-brew install eigen
-brew install octomap