diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index 434f272..1e81375 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -33,7 +33,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        os: [ubuntu-20.04, ubuntu-22.04]
+        os: [ubuntu-22.04, ubuntu-24.04]
         robotology:
         - { yarp: yarp-3.8, cmake: 3.16.x }
         - { yarp: yarp-3.9, cmake: 3.16.x }
@@ -63,8 +63,16 @@ jobs:
         ref: ${{matrix.robotology.yarp}}
         path: .deps/yarp
 
+    - name: Check out SWIG
+      if: ${{matrix.os == 'ubuntu-24.04'}}
+      uses: actions/checkout@v4
+      with:
+        repository: swig/swig
+        ref: v4.2.1
+        path: .deps/swig
+
     - name: Install dependencies via apt
-      run: sudo apt-get update && sudo apt-get install -qq ccache libespeak-dev mbrola-en1 googletest pulseaudio
+      run: sudo apt-get install -qq ccache libespeak-dev mbrola-en1 googletest pulseaudio
 
     - name: Set up CMake
       uses: jwlawson/actions-setup-cmake@v2
@@ -93,6 +101,14 @@ jobs:
         cmake --build .deps/yarp/build
         sudo cmake --install .deps/yarp/build
 
+    - name: Build SWIG
+      if: ${{matrix.os == 'ubuntu-24.04'}}
+      run: |
+        cmake -S .deps/swig -B .deps/swig/build $CMAKE_CCACHE_LAUNCHER
+        cmake --build .deps/swig/build
+        sudo cmake --install .deps/swig/build
+        sudo ln -s /usr/local/bin/swig /usr/local/bin/swig4.0 # shadows /usr/bin/swig4.0
+
     - name: Configure speech
       run: cmake -S . -B build $CMAKE_CCACHE_LAUNCHER -DCREATE_BINDINGS_PYTHON=ON -DENABLE_examples=ON