diff --git a/.gitmodules b/.gitmodules
new file mode 100644
index 0000000000000000000000000000000000000000..3d61e7abd09e66f8e7f15d2f6241e71e31705f3c
--- /dev/null
+++ b/.gitmodules
@@ -0,0 +1,3 @@
+[submodule "deps/falkolib"]
+	path = deps/falkolib
+	url = https://gitlab.iri.upc.edu/mobile_robotics/falkolib
diff --git a/deps/falkolib b/deps/falkolib
new file mode 160000
index 0000000000000000000000000000000000000000..327bafa8ee1d9ea545d9766415986ea13a1064d1
--- /dev/null
+++ b/deps/falkolib
@@ -0,0 +1 @@
+Subproject commit 327bafa8ee1d9ea545d9766415986ea13a1064d1