diff --git a/gtsam_unstable/CMakeLists.txt b/gtsam_unstable/CMakeLists.txt
index 98a1b4ef9..08a97e4d3 100644
--- a/gtsam_unstable/CMakeLists.txt
+++ b/gtsam_unstable/CMakeLists.txt
@@ -29,6 +29,20 @@ set (excluded_headers # "")
     "${CMAKE_CURRENT_SOURCE_DIR}/slam/serialization.h"
 )
 
+# if GTSAM_USE_BOOST_FEATURES is not set, then we need to exclude the following:
+if(NOT GTSAM_USE_BOOST_FEATURES)
+    set (excluded_sources ${excluded_sources}
+        "${CMAKE_CURRENT_SOURCE_DIR}/linear/QPSParser.cpp"
+        "${CMAKE_CURRENT_SOURCE_DIR}/linear/QPSSolver.cpp"
+        "${CMAKE_CURRENT_SOURCE_DIR}/linear/Scheduler.cpp"
+    )
+    set (excluded_headers ${excluded_headers}
+        "${CMAKE_CURRENT_SOURCE_DIR}/linear/QPSParser.h"
+        "${CMAKE_CURRENT_SOURCE_DIR}/linear/QPSSolver.h"
+        "${CMAKE_CURRENT_SOURCE_DIR}/linear/Scheduler.h"
+    )
+endif()
+
 # assemble core libraries
 foreach(subdir ${gtsam_unstable_subdirs})
     # Build convenience libraries
diff --git a/gtsam_unstable/examples/CMakeLists.txt b/gtsam_unstable/examples/CMakeLists.txt
index da06b7dfc..b2e1ad6dd 100644
--- a/gtsam_unstable/examples/CMakeLists.txt
+++ b/gtsam_unstable/examples/CMakeLists.txt
@@ -1,5 +1,13 @@
-set (excluded_examples
-    # fileToExclude.cpp
-)
+# disable tests if GTSAM_USE_BOOST_FEATURES is OFF
+if (NOT GTSAM_USE_BOOST_FEATURES)
+  set (excluded_examples
+      # fileToExclude.cpp
+      "schedulingExample.cpp"
+      "schedulingQuals12.cpp"
+      "schedulingQuals13.cpp"
+      )
+else()
+  set (excluded_examples "")
+endif()
 
 gtsamAddExamplesGlob("*.cpp" "${excluded_examples}" "gtsam_unstable")