diff --git a/.github/helpers/check_urls.sh b/.github/helpers/check_urls.sh
deleted file mode 100755
index d3aa1861..00000000
--- a/.github/helpers/check_urls.sh
+++ /dev/null
@@ -1,71 +0,0 @@
-#!/bin/bash
-
-set -e
-
-IGNORE_FILES=""
-IGNORE_PATTERNS=""
-
-while getopts ":f:d:p:" opt; do
-    case "${opt}" in
-        f)
-            IGNORE_FILES="${OPTARG}";;
-        d)
-            IGNORE_DIRS="${OPTARG}";;
-        p)
-            IGNORE_PATTERNS="${OPTARG}";;
-        \?)
-            echo "Invalid option -$OPTARG"
-            exit;;
-    esac
-done
-
-read -r -a ignore_files <<<"$IGNORE_FILES"
-read -r -a ignore_dirs <<<"$IGNORE_DIRS"
-read -r -a ignore_patterns <<<"$IGNORE_PATTERNS"
-
-IGNORE_FILES_ARG=""
-for item in "${ignore_files[@]}"; do
-  IGNORE_FILES_ARG="$IGNORE_FILES_ARG --exclude=$item"
-done
-IGNORE_DIRS_ARG=""
-for item in "${ignore_dirs[@]}"; do
-  IGNORE_DIRS_ARG="$IGNORE_DIRS_ARG --exclude-dir=$item"
-done
-
-#Find URLs in code:
-urls=$(grep -oP '(http|ftp|https):\/\/([a-zA-Z0-9_-]+(?:(?:\.[a-zA-Z0-9_-]+)+))([a-zA-Z0-9_.,@?^=%&:\/~+#-]*[a-zA-Z0-9_@?^=%&\/~+#-])?' -rI $IGNORE_FILES_ARG $IGNORE_DIRS_ARG)
-
-fail_counter=0
-
-FAILED_LINKS=()
-CHECKED_LINKS=()
-for item in $urls; do
-#     echo $item
-    skip=0
-    for pattern in "${ignore_patterns[@]}"; do
-      [[ "$item" =~ $pattern ]] && skip=1
-    done
-
-    if [[ $skip == 1 ]]; then
-      echo "SKIPPING $item"
-      continue
-    fi
-
-    filename=$(echo "$item" | cut -d':' -f1)
-    url=$(echo "$item" | cut -d':' -f2-)
-    echo -n "Checking $url from file $filename"
-    if [[ $(echo ${CHECKED_LINKS[@]} | fgrep -w $url) ]]; then
-      echo -e " \033[36malready checked\033[0m"
-    elif ! curl --head --silent --fail "$url" 2>&1 > /dev/null; then
-        echo -e " \033[0;31mNOT FOUND\033[0m"
-        FAILED_LINKS+=("$url from file $filename")
-        ((fail_counter=fail_counter+1))
-    else
-        echo -e " \033[32mok\033[0m"
-    fi
-    CHECKED_LINKS+=("$url")
-done
-
-echo "Failed files:"
-printf '%s\n' "${FAILED_LINKS[@]}"
-exit $fail_counter
diff --git a/.github/workflows/check_links.yml b/.github/workflows/check_links.yml
new file mode 100644
index 00000000..ca9f549b
--- /dev/null
+++ b/.github/workflows/check_links.yml
@@ -0,0 +1,42 @@
+name: Check Links
+on:
+  workflow_dispatch:
+  pull_request:
+  push:
+    branches:
+      - main
+
+jobs:
+  check_links:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+      - name: Restore lychee cache
+        id: restore-cache
+        uses: actions/cache/restore@v4
+        with:
+          path: .lycheecache
+          key: cache-lychee-${{ github.run_id }}-${{ github.run_attempt }}
+          restore-keys: cache-lychee-
+      - name: Link Checker
+        id: lychee
+        uses: lycheeverse/lychee-action@v2
+        with:
+          fail: true
+          args: >
+            --verbose
+            --no-progress
+            --cache
+            --cache-exclude-status '429, 403, 404, 502'
+            --max-cache-age 2d
+            --exclude '^http://192\.168\.56\.101'
+            --exclude 'kernel\.org\/pub\/linux\/kernel'
+            --exclude 'releases/download/v\$%7BURCAP_VERSION%7D/externalcontrol-\$%7BURCAP_VERSION%7D\.jar'
+            --max-concurrency 1
+            './**/*.md' './**/*.html' './**/*.rst' './**/*.cpp' './**/*.h' './**/*.py'
+      - name: Save lychee cache
+        uses: actions/cache/save@v4
+        if: always()
+        with:
+          path: .lycheecache
+          key: ${{ steps.restore-cache.outputs.cache-primary-key }}
diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index 78a00955..e37421bb 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -126,14 +126,3 @@ jobs:
           fail_ci_if_error: true
           token: ${{ secrets.CODECOV_TOKEN }}
           flags: start_ursim
-
-  check_links:
-    runs-on: ubuntu-latest
-    steps:
-      - uses: actions/checkout@v4
-      - name: Check URLs
-        run: |
-          .github/helpers/check_urls.sh \
-            -d ".git build CMakeModules debian" \
-            -f "package.xml urcl_architecture.svg trajectory_interface.svg dataflow.graphml start_ursim.sh ursim_docker.rst" \
-            -p "vnc\.html opensource\.org\/licenses\/BSD-3-Clause kernel\.org\/pub\/linux\/kernel"