diff --git a/CMakeLists.txt b/CMakeLists.txt
index 5657473..8e5d847 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,22 +1,13 @@
 
-set(FIELDS2COVER_MAJOR_VERSION "2")
-set(FIELDS2COVER_MINOR_VERSION "0")
-set(FIELDS2COVER_PATCH_VERSION "0")
+cmake_minimum_required(VERSION 3.12.4...3.22)
 
-set(FIELDS2COVER_VERSION_STRING
-  "${FIELDS2COVER_MAJOR_VERSION}.${FIELDS2COVER_MINOR_VERSION}.${FIELDS2COVER_PATCH_VERSION}"
-)
-set(FIELDS2COVER_VERSION
-  ${FIELDS2COVER_MAJOR_VERSION}.${FIELDS2COVER_MINOR_VERSION}.${FIELDS2COVER_PATCH_VERSION}
+project(Fields2Cover
+  VERSION 2.0.0
+  DESCRIPTION "Fields2Cover is a complete coverage path planning package for autonomous robots"
+  HOMEPAGE_URL "http://fields2cover.github.io"
+  LANGUAGES CXX
 )
 
-set(PACKAGE_NAME "Fields2Cover")
-set(PACKAGE_DESCRIPTION
-  "Fields2Cover is a complete coverage path planning package for autonomous robots"
-)
-set(PACKAGE_AUTHOR "Wageningen University")
-set(PACKAGE_MAINTAINER "Gonzalo Mier")
-set(PACKAGE_URL "http://fields2cover.github.io")
 
 
 option(ALLOW_PARALLELIZATION "Allow parallel algorithms" ON)
@@ -29,17 +20,13 @@ option(USE_ORTOOLS_RELEASE "Get or-tools from release tarball" OFF)
 option(USE_ORTOOLS_FETCH_SRC "Get or-tools from source" OFF)
 option(USE_ORTOOLS_VENDOR "Get or-tools from ortools_vendor" OFF)
 
-if (BUILD_PYTHON)
-  cmake_minimum_required(VERSION 3.12.4)
-else(BUILD_PYTHON)
-  cmake_minimum_required(VERSION 3.11)
-endif(BUILD_PYTHON)
 
-if(${CMAKE_VERSION} VERSION_LESS 3.22)
-  cmake_policy(VERSION ${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION})
-else(${CMAKE_VERSION} VERSION_LESS 3.22)
-  cmake_policy(VERSION 3.22)
-endif(${CMAKE_VERSION} VERSION_LESS 3.22)
+# Set C++ standard
+set(CMAKE_CXX_STANDARD 17)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
+set(CMAKE_CXX_EXTENSIONS OFF)
+
+
 
 if(POLICY CMP0094)
   cmake_policy(SET CMP0094 NEW)
@@ -48,11 +35,6 @@ if(POLICY CMP0135)
   cmake_policy(SET CMP0135 NEW)
 endif(POLICY CMP0135)
 
-project(Fields2Cover
-  LANGUAGES CXX
-  VERSION "${FIELDS2COVER_VERSION_STRING}"
-  DESCRIPTION "${PACKAGE_DESCRIPTION}"
-)
 
 if(NOT CMAKE_BUILD_TYPE)
   set(CMAKE_BUILD_TYPE Release)
@@ -60,45 +42,11 @@ if(NOT CMAKE_BUILD_TYPE)
   # set(CMAKE_BUILD_TYPE Debug)
 endif(NOT CMAKE_BUILD_TYPE)
 
-if (WIN32)
-  set(CMAKE_SHARED_LIBRARY_PREFIX "")
-endif(WIN32)
-
-include(GNUInstallDirs)
 
-list(INSERT CMAKE_MODULE_PATH 0 "${CMAKE_CURRENT_SOURCE_DIR}/cmake/Modules")
+list(PREPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake/Modules")
 
-include(FetchContent)
-if(${CMAKE_VERSION} VERSION_LESS 3.14)
-  macro(FetchContent_MakeAvailable NAME)
-    FetchContent_GetProperties(${NAME})
-    if(NOT ${NAME}_POPULATED)
-      FetchContent_Populate(${NAME})
-      add_subdirectory(${${NAME}_SOURCE_DIR} ${${NAME}_BINARY_DIR})
-    endif(NOT ${NAME}_POPULATED)
-  endmacro(FetchContent_MakeAvailable)
-endif(${CMAKE_VERSION} VERSION_LESS 3.14)
 
-set(CMAKE_POSITION_INDEPENDENT_CODE ON)
-FetchContent_Declare(steering_functions FETCHCONTENT_UPDATES_DISCONNECTED
-  GIT_REPOSITORY https://github.com/Fields2Cover/steering_functions.git
-  GIT_TAG 13e3f5658144b3832fb1eb31a0e2f5a3cbf57db9
-)
-FetchContent_Declare(matplot FETCHCONTENT_UPDATES_DISCONNECTED
-  GIT_REPOSITORY https://github.com/alandefreitas/matplotplusplus
-)
-
-FetchContent_Declare(json FETCHCONTENT_UPDATES_DISCONNECTED
-  URL https://github.com/nlohmann/json/releases/download/v3.11.3/json.tar.xz
-)
-
-FetchContent_MakeAvailable(
-  steering_functions
-  matplot
-  json
-)
-
-set(THREADS_PREFER_PTHREAD_FLAG ON)
+# Dependencies
 find_package(TinyXML2 REQUIRED)
 find_package(Threads REQUIRED)
 find_package(Gnuplot)
@@ -106,150 +54,33 @@ find_package(GDAL 3.0 REQUIRED)
 find_package(Eigen3 REQUIRED)
 find_library(MATH_LIBRARY m)
 
-set(ORTOOLS_TARGET "")
-
-if(USE_ORTOOLS_FETCH_SRC)
-  message(STATUS "or-tools -- Downloading and building from source")
-  set(BUILD_DEPS ON)
-  set(BUILD_SAMPLES OFF)
-  set(BUILD_EXAMPLES OFF)
-
-  FetchContent_Declare(ortools FETCHCONTENT_UPDATES_DISCONNECTED
-    GIT_REPOSITORY https://github.com/google/or-tools.git
-    GIT_TAG v9.9
-    CMAKE_ARGS
-      "-DCMAKE_CXX_FLAGS=${CMAKE_CXX_FLAGS}"
-      -DBUILD_DEPS:BOOL=ON
-      -DBUILD_SAMPLES:BOOL=OFF
-      -DBUILD_EXAMPLES:BOOL=OFF
-  )
-  FetchContent_MakeAvailable(ortools)
 
-  set_property(GLOBAL PROPERTY CTEST_TARGETS_ADDED 1)
-  include(CTest)
-  set(ORTOOLS_TARGET "ortools")
-elseif(USE_ORTOOLS_VENDOR)
-  find_package(ortools_vendor REQUIRED)
-elseif(NOT USE_ORTOOLS_RELEASE)
-  find_package(ortools_vendor QUIET)
-  find_package(ortools CONFIG QUIET)
-endif()
-
-if(USE_ORTOOLS_RELEASE OR (NOT ortools_FOUND))
-  message(STATUS "or-tools -- Downloading and installing from release tarball")
-  if(CMAKE_SYSTEM_PROCESSOR MATCHES "x86_64")
-    message(STATUS "Target architecture is AMD64")
-    FetchContent_Declare(ortools FETCHCONTENT_UPDATES_DISCONNECTED
-      URL https://github.com/google/or-tools/releases/download/v9.9/or-tools_amd64_ubuntu-22.04_cpp_v9.9.3963.tar.gz
-      URL_HASH SHA256=a611133f4e9b75661c637347ebadff79539807cf8966eb9c176c2c560aad0a84
-    )
-  elseif(CMAKE_SYSTEM_PROCESSOR MATCHES "aarch64")
-    message(STATUS "Target architecture is ARM64")
-    FetchContent_Declare(ortools FETCHCONTENT_UPDATES_DISCONNECTED
-      URL https://github.com/google/or-tools/releases/download/v9.9/or-tools_arm64_debian-11_cpp_v9.9.3963.tar.gz
-      URL_HASH SHA256=f308a06d89dce060f74e6fec4936b43f4bdf4874d18c131798697756200f4e7a
-    )
-  else()
-    message(FATAL_ERROR "Unknown/Unhandled target architecture: ${CMAKE_SYSTEM_PROCESSOR}")
-  endif()
-  #NOTE: FetchContent_GetProperties variables only available in called scope
-  FetchContent_GetProperties(ortools)
-  if(NOT ortools_POPULATED)
-    FetchContent_Populate(ortools)
-  endif()
-  list(INSERT CMAKE_PREFIX_PATH 0 "${ortools_SOURCE_DIR}")
-  find_package(ortools CONFIG REQUIRED)
-  if(NOT ortools_FOUND)
-    message(FATAL_ERROR "Failed to find ortools in release tarball")
-  endif()
-
-  #NOTE: in CMAKE 3.21 introduces IMPORTED_RUNTIME_ARTIFACTS
-  # https://cmake.org/cmake/help/v3.21/command/install.html#imported-runtime-artifacts
-  # Which would allow creation of an ortools target with IMPORTED_LOCATION
-  # and then install with IMPORTED_RUNTIME_ARTIFACTS
-  # Just brute force install the contents of the directories for now.
-  install(
-    DIRECTORY "${ortools_SOURCE_DIR}/"
-    DESTINATION opt/f2c_ortools/
-  )
-endif(USE_ORTOOLS_RELEASE OR (NOT ortools_FOUND))
+set(CMAKE_POSITION_INDEPENDENT_CODE ON)
+set(THREADS_PREFER_PTHREAD_FLAG ON)
+
+
+include(cmake/F2CUtils.cmake)
+f2c_declare_dependencies()
 
-set(gtest_force_shared_crt ON CACHE BOOL "" FORCE)
 
 file(GLOB_RECURSE fields2cover_src
   "${CMAKE_CURRENT_SOURCE_DIR}/src/*.cpp"
-  "${CMAKE_CURRENT_SOURCE_DIR}/src/*/*.cpp"
-  "${CMAKE_CURRENT_SOURCE_DIR}/src/*/*/*.cpp"
-  "${CMAKE_CURRENT_SOURCE_DIR}/src/*/*/*/*.cpp"
-)
-
-list(REMOVE_ITEM fields2cover_src
-  "${CMAKE_CURRENT_SOURCE_DIR}/.*"
-  "${CMAKE_CURRENT_SOURCE_DIR}/src/.*"
-  "${CMAKE_CURRENT_SOURCE_DIR}/src/*/.*"
-  "${CMAKE_CURRENT_SOURCE_DIR}/src/*/*/.*"
-  "${CMAKE_CURRENT_SOURCE_DIR}/src/*/*/*/.*.cpp"
 )
 
-if(BUILD_SHARED_LIBS)
-  add_library(Fields2Cover SHARED ${fields2cover_src})
-else(BUILD_SHARED_LIBS)
-  add_library(Fields2Cover STATIC ${fields2cover_src})
-endif(BUILD_SHARED_LIBS)
+add_library(Fields2Cover ${fields2cover_src})
 
-target_compile_features(Fields2Cover PUBLIC cxx_std_17)
 
-
-if(${CMAKE_CXX_COMPILER_ID} STREQUAL "GNU")
-  target_compile_options(Fields2Cover PRIVATE
-    -Wall -Wfatal-errors
-    -Wno-dev -Wextra -Wno-unused-parameter -Wno-sign-compare
-    -Wno-attributes -Wl,--no-undefined
-  )
-elseif(${CMAKE_CXX_COMPILER_ID} STREQUAL "MSVC")
-  target_compile_options(Fields2Cover PRIVATE /W4)
-elseif(${CMAKE_CXX_COMPILER_ID} MATCHES "^(Apple)?Clang$")
-
-endif(${CMAKE_CXX_COMPILER_ID} STREQUAL "GNU")
-
-
-
-if (CMAKE_BUILD_TYPE STREQUAL "Debug")
-  include(cmake/Modules/CodeCoverage.cmake)
-  APPEND_COVERAGE_COMPILER_FLAGS()
-  #if(NOT USE_ORTOOLS_FETCH_SRC)
-  #  target_compile_options(Fields2Cover PRIVATE -pedantic -Werror)
-  #endif()
-  target_compile_options(Fields2Cover PRIVATE
-    -g --coverage -fprofile-arcs -ftest-coverage -fno-inline
-  )
-  set(CMAKE_EXE_LINKER_FLAGS  "${CMAKE_EXE_LINKER_FLAGS} -lgcov")
-
-  if (CMAKE_CXX_COMPILER_ID STREQUAL "MSVC")
-    target_compile_options(Fields2Cover PRIVATE /O0)
-  else(NOT CMAKE_CXX_COMPILER_ID STREQUAL "MSVC")
-    target_compile_options(Fields2Cover PRIVATE -O0)
-  endif(CMAKE_CXX_COMPILER_ID STREQUAL "MSVC")
-
-else (NOT CMAKE_BUILD_TYPE STREQUAL "Debug")
-  if (${CMAKE_CXX_COMPILER_ID} STREQUAL "MSVC")
-    target_compile_options(Fields2Cover PRIVATE /O2)
-  else(${CMAKE_CXX_COMPILER_ID} STREQUAL "MSVC")
-    target_compile_options(Fields2Cover PRIVATE -O2)
-  endif(${CMAKE_CXX_COMPILER_ID} STREQUAL "MSVC")
-endif(CMAKE_BUILD_TYPE STREQUAL "Debug")
-
-
-target_include_directories(Fields2Cover PUBLIC
-  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
-  $<INSTALL_INTERFACE:include>
-  $<INSTALL_INTERFACE:include/fields2cover>
-  ${EIGEN3_INCLUDE_DIRS}
+target_include_directories(Fields2Cover
+  PUBLIC
+    $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+    $<INSTALL_INTERFACE:${CMAKE_INSTALL_INCLUDEDIR}>
+  PRIVATE
+    ${CMAKE_CURRENT_SOURCE_DIR}/src
 )
 
 target_link_libraries(Fields2Cover
   PUBLIC
-    ${GDAL_LIBRARIES}
+    GDAL::GDAL
     ${CMAKE_THREAD_LIBS_INIT}
     -lgeos_c
     ${MATH_LIBRARY}
@@ -261,80 +92,57 @@ target_link_libraries(Fields2Cover
     matplot
 )
 
-
 if(ALLOW_PARALLELIZATION)
   target_link_libraries(Fields2Cover PRIVATE tbb)
 endif(ALLOW_PARALLELIZATION)
 
-set_target_properties(Fields2Cover
-  PROPERTIES INTERPROCEDURAL_OPTIMIZATION TRUE
-  PUBLIC_HEADER "include/fields2cover.h"
-)
 
-install(
-  TARGETS
-    Fields2Cover
-    steering_functions
-    matplot
-    ${ORTOOLS_TARGET}
-  EXPORT Fields2Cover-targets
-  LIBRARY DESTINATION "${CMAKE_INSTALL_LIBDIR}"
-  ARCHIVE DESTINATION "${CMAKE_INSTALL_LIBDIR}"
-  RUNTIME DESTINATION "${CMAKE_INSTALL_BINDIR}"
-  PUBLIC_HEADER DESTINATION "${CMAKE_INSTALL_INCLUDEDIR}"
-)
 
-#https://cmake.org/cmake/help/latest/guide/tutorial/Adding%20Export%20Configuration.html
-include(CMakePackageConfigHelpers)
-write_basic_package_version_file(Fields2CoverConfigVersion.cmake
-  VERSION ${PACKAGE_VERSION}
-  COMPATIBILITY AnyNewerVersion
+
+# Compiler options
+include(cmake/F2CCompilerOptions.cmake)
+f2c_set_compiler_options(Fields2Cover)
+
+
+include(GNUInstallDirs)
+set(F2C_INSTALL_CMAKEDIR ${CMAKE_INSTALL_LIBDIR}/cmake/Fields2Cover)
+
+install(TARGETS Fields2Cover steering_functions matplot
+  EXPORT Fields2CoverTargets
+  LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}
+  ARCHIVE DESTINATION ${CMAKE_INSTALL_LIBDIR}
+  RUNTIME DESTINATION ${CMAKE_INSTALL_BINDIR}
+  PUBLIC_HEADER DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}
 )
 
-install(
-  EXPORT Fields2Cover-targets
-  FILE Fields2Cover-Targets.cmake
-  DESTINATION "lib/cmake/fields2cover"
+install(DIRECTORY include/
+  DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}
 )
 
-# generate the config file that includes the exports
+include(CMakePackageConfigHelpers)
 configure_package_config_file(
   ${CMAKE_CURRENT_SOURCE_DIR}/cmake/Fields2CoverConfig.cmake.in
-  "${CMAKE_CURRENT_BINARY_DIR}/Fields2CoverConfig.cmake"
-  INSTALL_DESTINATION "lib/cmake/fields2cover"
-  NO_SET_AND_CHECK_MACRO
-  NO_CHECK_REQUIRED_COMPONENTS_MACRO
+  ${CMAKE_CURRENT_BINARY_DIR}/Fields2CoverConfig.cmake
+  INSTALL_DESTINATION ${F2C_INSTALL_CMAKEDIR}
+  PATH_VARS CMAKE_INSTALL_INCLUDEDIR CMAKE_INSTALL_LIBDIR
 )
+
 write_basic_package_version_file(
-  "${CMAKE_CURRENT_BINARY_DIR}/Fields2CoverConfigVersion.cmake"
-  VERSION "${Tutorial_VERSION_MAJOR}.${Tutorial_VERSION_MINOR}"
-  COMPATIBILITY AnyNewerVersion
+  ${CMAKE_CURRENT_BINARY_DIR}/Fields2CoverConfigVersion.cmake
+  VERSION ${PROJECT_VERSION}
+  COMPATIBILITY SameMajorVersion
 )
+
 install(FILES
   ${CMAKE_CURRENT_BINARY_DIR}/Fields2CoverConfig.cmake
   ${CMAKE_CURRENT_BINARY_DIR}/Fields2CoverConfigVersion.cmake
-  DESTINATION "lib/cmake/fields2cover"
-)
-
-install(
-  FILES ${CMAKE_CURRENT_SOURCE_DIR}/package.xml
-  DESTINATION ${CMAKE_INSTALL_DATAROOTDIR}/fields2cover
-)
-
-export(
-  TARGETS
-    Fields2Cover
-    steering_functions
-    matplot
-    ${ORTOOLS_TARGET}
-  FILE
-    Fields2Cover-${type}-Targets.cmake
+  DESTINATION ${F2C_INSTALL_CMAKEDIR}
 )
 
-# Copy public headers during `make install`
-install(
-  DIRECTORY include/
-  DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/fields2cover
+install(EXPORT Fields2CoverTargets
+  FILE Fields2CoverTargets.cmake
+  NAMESPACE Fields2Cover::
+  DESTINATION ${F2C_INSTALL_CMAKEDIR}
 )
 
 
diff --git a/cmake/F2CCompilerOptions.cmake b/cmake/F2CCompilerOptions.cmake
new file mode 100644
index 0000000..6eb7491
--- /dev/null
+++ b/cmake/F2CCompilerOptions.cmake
@@ -0,0 +1,30 @@
+
+function(f2c_set_compiler_options target)
+  if(MSVC)
+    target_compile_options(${target} PRIVATE /W4 /WX)
+  else()
+    target_compile_options(${target} PRIVATE
+      -Wall -Wextra -Werror -pedantic
+      -Wno-unused-parameter -Wno-sign-compare
+    )
+  endif()
+
+  if(CMAKE_BUILD_TYPE STREQUAL "Debug")
+    include(cmake/Modules/CodeCoverage.cmake)
+    APPEND_COVERAGE_COMPILER_FLAGS()
+    if(MSVC)
+      target_compile_options(${target} PRIVATE /Od /Zi)
+    else()
+      target_compile_options(${target} PRIVATE -g --coverage -fprofile-arcs -ftest-coverage -fno-inline -O0)
+      target_link_options(${target} PRIVATE --coverage)
+      target_link_libraries(${target} PRIVATE gcov)
+
+    endif()
+  elseif(CMAKE_BUILD_TYPE STREQUAL "Release")
+    if(MSVC)
+      target_compile_options(${target} PRIVATE /O2)
+    else()
+      target_compile_options(${target} PRIVATE -O2)
+    endif()
+  endif()
+endfunction()
diff --git a/cmake/F2CUtils.cmake b/cmake/F2CUtils.cmake
new file mode 100644
index 0000000..7162633
--- /dev/null
+++ b/cmake/F2CUtils.cmake
@@ -0,0 +1,83 @@
+function(f2c_declare_dependencies)
+
+  include(FetchContent)
+  if(${CMAKE_VERSION} VERSION_LESS 3.14)
+    macro(FetchContent_MakeAvailable NAME)
+      FetchContent_GetProperties(${NAME})
+      if(NOT ${NAME}_POPULATED)
+        FetchContent_Populate(${NAME})
+        add_subdirectory(${${NAME}_SOURCE_DIR} ${${NAME}_BINARY_DIR})
+      endif(NOT ${NAME}_POPULATED)
+    endmacro(FetchContent_MakeAvailable)
+  endif(${CMAKE_VERSION} VERSION_LESS 3.14)
+
+
+  set(ORTOOLS_TARGET "")
+  if(USE_ORTOOLS_FETCH_SRC)
+    message(STATUS "or-tools -- Downloading and building from source")
+    FetchContent_Declare(ortools
+      GIT_REPOSITORY https://github.com/google/or-tools.git
+      GIT_TAG v9.9
+    )
+    FetchContent_MakeAvailable(ortools)
+    set(ORTOOLS_TARGET "ortools")
+  elseif(USE_ORTOOLS_VENDOR)
+    find_package(ortools_vendor REQUIRED)
+  else()
+    find_package(ortools_vendor QUIET)
+    find_package(ortools CONFIG QUIET)
+    if(NOT ortools_FOUND)
+      message(STATUS "or-tools -- Downloading and installing from release tarball")
+      if(CMAKE_SYSTEM_PROCESSOR MATCHES "x86_64")
+        message(STATUS "Target architecture is AMD64")
+        FetchContent_Declare(ortools FETCHCONTENT_UPDATES_DISCONNECTED
+          URL https://github.com/google/or-tools/releases/download/v9.9/or-tools_amd64_ubuntu-22.04_cpp_v9.9.3963.tar.gz
+          URL_HASH SHA256=a611133f4e9b75661c637347ebadff79539807cf8966eb9c176c2c560aad0a84
+        )
+      elseif(CMAKE_SYSTEM_PROCESSOR MATCHES "aarch64")
+        message(STATUS "Target architecture is ARM64")
+        FetchContent_Declare(ortools FETCHCONTENT_UPDATES_DISCONNECTED
+          URL https://github.com/google/or-tools/releases/download/v9.9/or-tools_arm64_debian-11_cpp_v9.9.3963.tar.gz
+          URL_HASH SHA256=f308a06d89dce060f74e6fec4936b43f4bdf4874d18c131798697756200f4e7a
+        )
+      else()
+        message(FATAL_ERROR "Unknown/Unhandled target architecture: ${CMAKE_SYSTEM_PROCESSOR}")
+      endif()
+      #NOTE: FetchContent_GetProperties variables only available in called scope
+      FetchContent_GetProperties(ortools)
+      if(NOT ortools_POPULATED)
+        FetchContent_Populate(ortools)
+      endif()
+      list(INSERT CMAKE_PREFIX_PATH 0 "${ortools_SOURCE_DIR}")
+      find_package(ortools CONFIG REQUIRED)
+      if(NOT ortools_FOUND)
+        message(FATAL_ERROR "Failed to find ortools in release tarball")
+      endif()
+
+      #NOTE: in CMAKE 3.21 introduces IMPORTED_RUNTIME_ARTIFACTS
+      # https://cmake.org/cmake/help/v3.21/command/install.html#imported-runtime-artifacts
+      # Which would allow creation of an ortools target with IMPORTED_LOCATION
+      # and then install with IMPORTED_RUNTIME_ARTIFACTS
+      # Just brute force install the contents of the directories for now.
+      include(GNUInstallDirs)
+      install(
+        DIRECTORY "${ortools_SOURCE_DIR}/"
+        DESTINATION ${CMAKE_INSTALL_PREFIX} #opt/f2c_ortools/
+      )
+    endif(NOT ortools_FOUND)
+  endif()
+
+  FetchContent_Declare(steering_functions FETCHCONTENT_UPDATES_DISCONNECTED
+    GIT_REPOSITORY https://github.com/Fields2Cover/steering_functions.git
+    GIT_TAG 13e3f5658144b3832fb1eb31a0e2f5a3cbf57db9
+  )
+  FetchContent_Declare(matplot FETCHCONTENT_UPDATES_DISCONNECTED
+    GIT_REPOSITORY https://github.com/alandefreitas/matplotplusplus
+  )
+
+  FetchContent_Declare(json FETCHCONTENT_UPDATES_DISCONNECTED
+    URL https://github.com/nlohmann/json/releases/download/v3.11.3/json.tar.xz
+  )
+
+  FetchContent_MakeAvailable(steering_functions matplot json)
+endfunction()
diff --git a/cmake/Fields2CoverConfig.cmake.in b/cmake/Fields2CoverConfig.cmake.in
index bec53f9..92a61de 100644
--- a/cmake/Fields2CoverConfig.cmake.in
+++ b/cmake/Fields2CoverConfig.cmake.in
@@ -1,12 +1,21 @@
 @PACKAGE_INIT@
 
-include("${CMAKE_CURRENT_LIST_DIR}/Fields2Cover-Targets.cmake" )
+include("${CMAKE_CURRENT_LIST_DIR}/Fields2CoverTargets.cmake")
 
 include(CMakeFindDependencyMacro)
+
+# Find dependencies
 find_dependency(GDAL 3.0 REQUIRED)
+find_dependency(Threads REQUIRED)
+find_dependency(Eigen3 REQUIRED)
+
+# Optional dependencies
+if(@F2C_ALLOW_PARALLELIZATION@)
+  find_dependency(TBB REQUIRED)
+endif()
+
+set_and_check(Fields2Cover_INCLUDE_DIR "@PACKAGE_CMAKE_INSTALL_INCLUDEDIR@")
+check_required_components(Fields2Cover)
 
-list(INSERT CMAKE_PREFIX_PATH 0 "${PACKAGE_PREFIX_DIR}/opt/ortools_vendor")
-list(INSERT CMAKE_PREFIX_PATH 1 "${PACKAGE_PREFIX_DIR}/opt/f2c_ortools")
 
-find_dependency(ortools REQUIRED NO_SYSTEM_ENVIRONMENT_PATH)