diff --git a/yasmin/include/yasmin/blackboard/blackboard.hpp b/yasmin/include/yasmin/blackboard/blackboard.hpp
index 8e3c6c8..26dd0bb 100644
--- a/yasmin/include/yasmin/blackboard/blackboard.hpp
+++ b/yasmin/include/yasmin/blackboard/blackboard.hpp
@@ -19,6 +19,7 @@
 #include <map>
 #include <mutex>
 #include <string>
+#include <exception>
 
 #include "yasmin/blackboard/blackboard_value.hpp"
 #include "yasmin/blackboard/blackboard_value_interface.hpp"
@@ -42,7 +43,7 @@ class Blackboard {
     std::lock_guard<std::recursive_mutex> lk(this->mutex);
 
     if (!this->contains(name)) {
-      throw "Element " + name + " does not exist in the blackboard";
+      throw std::runtime_error("Element " + name + " does not exist in the blackboard");
     }
 
     BlackboardValue<T> *b_value = (BlackboardValue<T> *)this->values.at(name);
diff --git a/yasmin/src/yasmin/state.cpp b/yasmin/src/yasmin/state.cpp
index 038a8cd..65d8715 100644
--- a/yasmin/src/yasmin/state.cpp
+++ b/yasmin/src/yasmin/state.cpp
@@ -16,6 +16,7 @@
 #include <algorithm>
 #include <string>
 #include <vector>
+#include <exception>
 
 #include "yasmin/state.hpp"
 
@@ -30,7 +31,7 @@ State::operator()(std::shared_ptr<blackboard::Blackboard> blackboard) {
 
   if (std::find(this->outcomes.begin(), this->outcomes.end(), outcome) ==
       this->outcomes.end()) {
-    throw "Outcome (" + outcome + ") does not exist";
+    throw std::logic_error("Outcome (" + outcome + ") does not exist");
   }
 
   return outcome;
diff --git a/yasmin/src/yasmin/state_machine.cpp b/yasmin/src/yasmin/state_machine.cpp
index 46eb369..d50d696 100644
--- a/yasmin/src/yasmin/state_machine.cpp
+++ b/yasmin/src/yasmin/state_machine.cpp
@@ -17,7 +17,7 @@
 #include <map>
 #include <memory>
 #include <mutex>
-#include <stdexcept>
+#include <exception>
 #include <string>
 #include <vector>
 
@@ -101,8 +101,8 @@ StateMachine::execute(std::shared_ptr<blackboard::Blackboard> blackboard) {
     // check outcome belongs to state
     if (std::find(state->get_outcomes().begin(), state->get_outcomes().end(),
                   outcome) == this->outcomes.end()) {
-      throw "Outcome (" + outcome + ") is not register in state " +
-          this->current_state;
+      throw std::logic_error("Outcome (" + outcome + ") is not register in state " +
+          this->current_state);
     }
 
     // translate outcome using transitions
@@ -133,7 +133,7 @@ StateMachine::execute(std::shared_ptr<blackboard::Blackboard> blackboard) {
 
       // outcome is not in the sm
     } else {
-      throw "Outcome (" + outcome + ") without transition";
+      throw std::logic_error("Outcome (" + outcome + ") without transition");
     }
   }