diff --git a/src/distance/ConfigurationRanker.cpp b/src/distance/ConfigurationRanker.cpp
index 301aef72a3..5acb056898 100644
--- a/src/distance/ConfigurationRanker.cpp
+++ b/src/distance/ConfigurationRanker.cpp
@@ -7,7 +7,6 @@ namespace distance {
 
 using statespace::dart::ConstMetaSkeletonStateSpacePtr;
 using statespace::dart::MetaSkeletonStateSpace;
-using dart::common::make_unique;
 using ::dart::dynamics::ConstMetaSkeletonPtr;
 
 //==============================================================================
@@ -63,7 +62,7 @@ ConfigurationRanker::ConfigurationRanker(
     metrics.emplace_back(std::make_pair(std::move(metric), weights[i]));
   }
 
-  mDistanceMetric = make_unique<CartesianProductWeighted>(
+  mDistanceMetric = ::dart::common::make_unique<CartesianProductWeighted>(
       std::move(_sspace), std::move(metrics));
 }
 
diff --git a/src/planner/kunzretimer/KunzRetimer.cpp b/src/planner/kunzretimer/KunzRetimer.cpp
index 7a338cf851..79c7902e32 100644
--- a/src/planner/kunzretimer/KunzRetimer.cpp
+++ b/src/planner/kunzretimer/KunzRetimer.cpp
@@ -10,7 +10,6 @@
 #include "Path.h"
 #include "Trajectory.h"
 
-using dart::common::make_unique;
 using aikido::statespace::dart::MetaSkeletonStateSpace;
 using aikido::statespace::ConstStateSpacePtr;
 using aikido::trajectory::toR1JointTrajectory;
@@ -52,7 +51,7 @@ std::unique_ptr<Path> convertToKunzPath(
     stateSpace->logMap(tmpState, tmpVec);
     waypoints.push_back(tmpVec);
   }
-  auto path = make_unique<Path>(waypoints, maxDeviation);
+  auto path = ::dart::common::make_unique<Path>(waypoints, maxDeviation);
   return path;
 }
 
diff --git a/src/planner/parabolic/ParabolicUtil.cpp b/src/planner/parabolic/ParabolicUtil.cpp
index ec53d532d0..ab32e4e598 100644
--- a/src/planner/parabolic/ParabolicUtil.cpp
+++ b/src/planner/parabolic/ParabolicUtil.cpp
@@ -20,7 +20,6 @@ using aikido::statespace::dart::MetaSkeletonStateSpace;
 using aikido::trajectory::toR1JointTrajectory;
 using aikido::trajectory::ConstInterpolatedPtr;
 using aikido::trajectory::ConstSplinePtr;
-using dart::common::make_unique;
 
 using CubicSplineProblem
     = aikido::common::SplineProblem<double, int, 4, Eigen::Dynamic, 2>;
@@ -102,7 +101,7 @@ std::unique_ptr<aikido::trajectory::Spline> convertToSpline(
   Eigen::VectorXd positionPrev, velocityPrev;
   evaluateAtTime(_inputPath, timePrev, positionPrev, velocityPrev);
 
-  auto _outputTrajectory = make_unique<aikido::trajectory::Spline>(
+  auto _outputTrajectory = ::dart::common::make_unique<aikido::trajectory::Spline>(
       _stateSpace, timePrev + _startTime);
   auto segmentStartState = _stateSpace->createState();
 
@@ -163,7 +162,7 @@ std::unique_ptr<ParabolicRamp::DynamicPath> convertToDynamicPath(
     velocities.emplace_back(toVector(tangentVector));
   }
 
-  auto outputPath = make_unique<ParabolicRamp::DynamicPath>();
+  auto outputPath = ::dart::common::make_unique<ParabolicRamp::DynamicPath>();
   outputPath->Init(toVector(_maxVelocity), toVector(_maxAcceleration));
   if (_preserveWaypointVelocity)
   {
@@ -202,7 +201,7 @@ std::unique_ptr<ParabolicRamp::DynamicPath> convertToDynamicPath(
     milestones.emplace_back(toVector(currVec));
   }
 
-  auto outputPath = make_unique<ParabolicRamp::DynamicPath>();
+  auto outputPath = ::dart::common::make_unique<ParabolicRamp::DynamicPath>();
   outputPath->Init(toVector(_maxVelocity), toVector(_maxAcceleration));
   outputPath->SetMilestones(milestones);
   if (!outputPath->IsValid())
diff --git a/src/trajectory/util.cpp b/src/trajectory/util.cpp
index 0433370822..a102c268ef 100644
--- a/src/trajectory/util.cpp
+++ b/src/trajectory/util.cpp
@@ -23,7 +23,6 @@ using aikido::statespace::GeodesicInterpolator;
 using aikido::statespace::StateSpacePtr;
 using aikido::statespace::dart::MetaSkeletonStateSpace;
 using aikido::statespace::dart::MetaSkeletonStateSpacePtr;
-using dart::common::make_unique;
 
 using Eigen::Vector2d;
 using LinearSplineProblem
@@ -89,7 +88,7 @@ UniqueSplinePtr convertToSpline(const Interpolated& inputTrajectory)
     throw std::invalid_argument("Trajectory is empty.");
 
   auto outputTrajectory
-      = make_unique<Spline>(stateSpace, inputTrajectory.getStartTime());
+      = ::dart::common::make_unique<Spline>(stateSpace, inputTrajectory.getStartTime());
 
   Eigen::VectorXd currentVec, nextVec;
   for (std::size_t iwaypoint = 0; iwaypoint < numWaypoints - 1; ++iwaypoint)
@@ -128,7 +127,7 @@ UniqueInterpolatedPtr concatenate(
   if (traj1.getInterpolator() != traj2.getInterpolator())
     throw std::runtime_error("Interpolator mismatch");
 
-  auto outputTrajectory = make_unique<Interpolated>(
+  auto outputTrajectory = ::dart::common::make_unique<Interpolated>(
       traj1.getStateSpace(), traj1.getInterpolator());
   if (traj1.getNumWaypoints() > 1u)
   {
@@ -197,7 +196,7 @@ UniqueSplinePtr createPartialTrajectory(
 
   const auto stateSpace = traj.getStateSpace();
   const int dimension = static_cast<int>(stateSpace->getDimension());
-  auto outputTrajectory = make_unique<Spline>(stateSpace, traj.getStartTime());
+  auto outputTrajectory = ::dart::common::make_unique<Spline>(stateSpace, traj.getStartTime());
 
   double currSegmentStartTime = traj.getStartTime();
   double currSegmentEndTime = currSegmentStartTime;
@@ -279,7 +278,7 @@ UniqueInterpolatedPtr toR1JointTrajectory(const Interpolated& trajectory)
 
   auto rSpace = std::make_shared<CartesianProduct>(subspaces);
   auto rInterpolator = std::make_shared<GeodesicInterpolator>(rSpace);
-  auto rTrajectory = make_unique<Interpolated>(rSpace, rInterpolator);
+  auto rTrajectory = ::dart::common::make_unique<Interpolated>(rSpace, rInterpolator);
 
   Eigen::VectorXd sourceVector(space->getDimension());
   auto sourceState = rSpace->createState();