diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index 48f2de9..4ed1359 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -35,9 +35,9 @@ jobs:
       matrix:
         os: [ubuntu-20.04, ubuntu-22.04]
         robotology:
-        - { yarp: yarp-3.7, cmake: 3.16.x }
         - { yarp: yarp-3.8, cmake: 3.16.x }
-        - { yarp: master, cmake: 3.16.x }
+        - { yarp: yarp-3.9, cmake: 3.16.x }
+        - { yarp: master, cmake: 3.19.x }
         compiler:
         - { cc: gcc, cxx: g++ }
         - { cc: clang, cxx: clang++ }
@@ -48,16 +48,16 @@ jobs:
 
     steps:
     - name: Check out main project
-      uses: actions/checkout@v3
+      uses: actions/checkout@v4
 
     - name: Check out YCM
-      uses: actions/checkout@v3
+      uses: actions/checkout@v4
       with:
         repository: robotology/ycm
         path: .deps/ycm
 
     - name: Check out YARP
-      uses: actions/checkout@v3
+      uses: actions/checkout@v4
       with:
         repository: robotology/yarp
         ref: ${{matrix.robotology.yarp}}
@@ -67,7 +67,7 @@ jobs:
       run: sudo apt-get install -qq ccache googletest
 
     - name: Set up CMake
-      uses: jwlawson/actions-setup-cmake@v1
+      uses: jwlawson/actions-setup-cmake@v2
       with:
         cmake-version: ${{matrix.robotology.cmake}}
 
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 003fad0..796d189 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -9,7 +9,7 @@ list(APPEND CMAKE_MODULE_PATH ${CMAKE_SOURCE_DIR}/cmake
 
 # Hard dependencies
 find_package(YCM 0.11 REQUIRED)
-find_package(YARP 3.7 REQUIRED COMPONENTS os dev)
+find_package(YARP 3.8 REQUIRED COMPONENTS os dev)
 
 # Soft dependencies.
 find_package(Doxygen QUIET)
diff --git a/doc/tools-install.md b/doc/tools-install.md
index 8e39aed..a2f05cc 100644
--- a/doc/tools-install.md
+++ b/doc/tools-install.md
@@ -3,7 +3,7 @@
 First install the dependencies:
 - [Install CMake 3.16+](https://github.com/roboticslab-uc3m/installation-guides/blob/master/docs/install-cmake.md/)
 - [Install YCM 0.11+](https://github.com/roboticslab-uc3m/installation-guides/blob/master/docs/install-ycm.md/)
-- [Install YARP 3.7+](https://github.com/roboticslab-uc3m/installation-guides/blob/master/docs/install-yarp.md/)
+- [Install YARP 3.8+](https://github.com/roboticslab-uc3m/installation-guides/blob/master/docs/install-yarp.md/)
 
 For unit testing, you'll need the googletest source package. Refer to [Install googletest](https://github.com/roboticslab-uc3m/installation-guides/blob/master/docs/install-googletest.md/).