diff --git a/.github/ci/packages.apt b/.github/ci/packages.apt
index 0accfa2f..c8ab7a2a 100644
--- a/.github/ci/packages.apt
+++ b/.github/ci/packages.apt
@@ -2,7 +2,7 @@ curl
 libcurl4-openssl-dev
 libgflags-dev
 libignition-cmake2-dev
-libignition-common3-dev
+libignition-common4-dev
 libignition-msgs7-dev
 libignition-tools-dev
 libjsoncpp-dev
diff --git a/CMakeLists.txt b/CMakeLists.txt
index c8561d11..5d61cf13 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -47,8 +47,8 @@ ign_find_package(ZIP REQUIRED PRIVATE)
 
 #--------------------------------------
 # Find ignition-common
-ign_find_package(ignition-common3 REQUIRED PRIVATE)
-set(IGN_COMMON_MAJOR_VER ${ignition-common3_VERSION_MAJOR})
+ign_find_package(ignition-common4 REQUIRED PRIVATE)
+set(IGN_COMMON_MAJOR_VER ${ignition-common4_VERSION_MAJOR})
 
 #--------------------------------------
 # Find ignition-msgs
diff --git a/bitbucket-pipelines.yml b/bitbucket-pipelines.yml
index d46b6519..880e0226 100644
--- a/bitbucket-pipelines.yml
+++ b/bitbucket-pipelines.yml
@@ -16,7 +16,7 @@ pipelines:
             git libcurl4-openssl-dev libjsoncpp-dev libzip-dev libgflags-dev libtinyxml2-dev
             lcov curl libyaml-dev
             libignition-cmake2-dev
-            libignition-common3-dev
+            libignition-common4-dev
             libignition-math6-dev
             # libignition-msgs5-dev
           # Ignition tools
diff --git a/configure.bat b/configure.bat
index 1deeb9de..dda28942 100644
--- a/configure.bat
+++ b/configure.bat
@@ -10,7 +10,7 @@ call %win_lib% :download_unzip_install libyaml-0.1.7-vc15-x64-md.zip
 call %win_lib% :download_unzip_install libzip-1.4.0_zlip-1.2.11_vc15-x64-dll-MD.zip
 call %win_lib% :install_ign_project ign-cmake ign-cmake2
 call %win_lib% :install_ign_project ign-tools ign-tools1
-call %win_lib% :install_ign_project ign-common ign-common3
+call %win_lib% :install_ign_project ign-common main
 call %win_lib% :install_ign_project ign-msgs main
 
 :: Set configuration variables
diff --git a/include/ignition/fuel_tools/FuelClient.hh b/include/ignition/fuel_tools/FuelClient.hh
index baff1bd8..b8207792 100644
--- a/include/ignition/fuel_tools/FuelClient.hh
+++ b/include/ignition/fuel_tools/FuelClient.hh
@@ -23,7 +23,6 @@
 #include <vector>
 #include <ignition/common/URI.hh>
 
-#include "ignition/fuel_tools/Helpers.hh"
 #include "ignition/fuel_tools/ModelIter.hh"
 #include "ignition/fuel_tools/RestClient.hh"
 #include "ignition/fuel_tools/Result.hh"
diff --git a/include/ignition/fuel_tools/Helpers.hh b/include/ignition/fuel_tools/Helpers.hh
index a8b5373c..748cfb40 100644
--- a/include/ignition/fuel_tools/Helpers.hh
+++ b/include/ignition/fuel_tools/Helpers.hh
@@ -19,6 +19,7 @@
 #define IGNITION_FUEL_TOOLS_HELPERS_HH_
 
 #include <string>
+#include <ignition/common/URI.hh>
 #include <ignition/fuel_tools/Export.hh>
 
 // Use safer functions on Windows
@@ -34,5 +35,19 @@
   #define ign_strdup strdup
 #endif
 
+namespace ignition
+{
+namespace fuel_tools
+{
+/// \brief Convert a URI to a string suitable to use as a path on disk.
+/// It strips the scheme and authority's `//` prefix.
+/// \param[in] _uri URI to convert.
+/// \return String suitable to use in file paths
+IGNITION_FUEL_TOOLS_VISIBLE
+std::string uriToPath(const ignition::common::URI &_uri);
+}
+}
+
 // IGNITION_FUEL_TOOLS_HELPERS_HH_
 #endif
+
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index f42e86c9..e975156a 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -2,6 +2,7 @@ set (sources
   ClientConfig.cc
   CollectionIdentifier.cc
   FuelClient.cc
+  Helpers.cc
   ign.cc
   Interface.cc
   JSONParser.cc
@@ -22,6 +23,7 @@ set (gtest_sources
   FuelClient_TEST.cc
   ign_src_TEST.cc
   Interface_TEST.cc
+  Helpers_TEST.cc
   JSONParser_TEST.cc
   LocalCache_TEST.cc
   ModelIdentifier_TEST.cc
diff --git a/src/ClientConfig_TEST.cc b/src/ClientConfig_TEST.cc
index 74c5d246..53af2a4a 100644
--- a/src/ClientConfig_TEST.cc
+++ b/src/ClientConfig_TEST.cc
@@ -388,6 +388,7 @@ TEST(ServerConfig, Url)
     EXPECT_EQ("http://banana:8080", srv.Url().Str());
     EXPECT_EQ("http", srv.Url().Scheme());
     EXPECT_EQ("banana:8080", srv.Url().Path().Str());
+    EXPECT_FALSE(srv.Url().Authority());
   }
 
   // Trailing /
@@ -395,6 +396,9 @@ TEST(ServerConfig, Url)
     ServerConfig srv;
     srv.SetUrl(common::URI("http://banana:8080/"));
     EXPECT_EQ("http://banana:8080", srv.Url().Str());
+    EXPECT_EQ("http", srv.Url().Scheme());
+    EXPECT_EQ("banana:8080", srv.Url().Path().Str());
+    EXPECT_FALSE(srv.Url().Authority());
   }
 
   // Set from URI
@@ -408,6 +412,7 @@ TEST(ServerConfig, Url)
     EXPECT_EQ("http://banana:8080", srv.Url().Str());
     EXPECT_EQ("http", srv.Url().Scheme());
     EXPECT_EQ("banana:8080", srv.Url().Path().Str());
+    EXPECT_FALSE(srv.Url().Authority());
   }
 }
 
diff --git a/src/FuelClient.cc b/src/FuelClient.cc
index 6e2f0c36..51b3511d 100644
--- a/src/FuelClient.cc
+++ b/src/FuelClient.cc
@@ -40,6 +40,7 @@
 #include "ignition/fuel_tools/ClientConfig.hh"
 #include "ignition/fuel_tools/CollectionIdentifier.hh"
 #include "ignition/fuel_tools/FuelClient.hh"
+#include "ignition/fuel_tools/Helpers.hh"
 #include "ignition/fuel_tools/JSONParser.hh"
 #include "ignition/fuel_tools/LocalCache.hh"
 #include "ignition/fuel_tools/ModelIdentifier.hh"
@@ -71,7 +72,9 @@ class ignition::fuel_tools::FuelClientPrivate
     // Name
     "([^\\/]+)\\/*"
     // Version
-    "([0-9]*|tip)"};
+    "([0-9]*|tip)"
+    // Trailing /
+    "/?"};
 
   /// \brief A world URL,
   /// E.g.: https://fuel.ignitionrobotics.org/1.0/OpenRobotics/worlds/Empty/1
@@ -90,7 +93,9 @@ class ignition::fuel_tools::FuelClientPrivate
     // Name
     "([^\\/]+)\\/*"
     // Version
-    "([0-9]*|tip)"};
+    "([0-9]*|tip)"
+    // Trailing /
+    "/?"};
 
   /// \brief A model file URL,
   /// E.g.: https://server.org/1.0/owner/models/modelname/files/meshes/mesh.dae
@@ -113,7 +118,9 @@ class ignition::fuel_tools::FuelClientPrivate
     // "files"
     "files\\/+"
     // File path
-    "(.*)"};
+    "(.*)"
+    // Trailing /
+    "/?"};
 
   /// \brief A world file URL,
   /// E.g.: https://server.org/1.0/owner/worlds/worldname/files/meshes/mesh.dae
@@ -136,7 +143,9 @@ class ignition::fuel_tools::FuelClientPrivate
     // "files"
     "files\\/+"
     // File path
-    "(.*)"};
+    "(.*)"
+    // Trailing /
+    "/?"};
 
   /// \brief A collection URL,
   /// E.g.:
@@ -750,8 +759,6 @@ bool FuelClient::ParseModelUrl(const common::URI &_modelUrl,
   std::string modelName;
   std::string modelVersion;
 
-  std::regex_match(urlStr, match, *this->dataPtr->urlModelRegex);
-
   if (std::regex_match(urlStr, match, *this->dataPtr->urlModelRegex) &&
       match.size() >= 5u)
   {
@@ -818,8 +825,6 @@ bool FuelClient::ParseWorldUrl(const common::URI &_worldUrl,
   std::string worldName;
   std::string worldVersion;
 
-  std::regex_match(urlStr, match, *this->dataPtr->urlWorldRegex);
-
   if (std::regex_match(urlStr, match, *this->dataPtr->urlWorldRegex) &&
       match.size() >= 5u)
   {
diff --git a/src/FuelClient_TEST.cc b/src/FuelClient_TEST.cc
index 22bda451..f2b5603e 100644
--- a/src/FuelClient_TEST.cc
+++ b/src/FuelClient_TEST.cc
@@ -173,13 +173,14 @@ TEST_F(FuelClientTest, ParseModelURL)
   // * with client config
   // * with server API version different from config
   // * with model version
+  // * with trailing /
   {
     ClientConfig config;
 
     FuelClient client(config);
     ModelIdentifier id;
     const std::string url{
-      "https://fuel.ignitionrobotics.org/5.0/german/models/Cardboard Box/6"};
+      "https://fuel.ignitionrobotics.org/5.0/german/models/Cardboard Box/6/"};
     EXPECT_TRUE(client.ParseModelUrl(ignition::common::URI(url), id));
 
     EXPECT_EQ(id.Server().Url().Str(), "https://fuel.ignitionrobotics.org");
@@ -801,13 +802,14 @@ TEST_F(FuelClientTest, ParseWorldUrl)
   // * with client config
   // * without server API version
   // * with world version `tip`
+  // * with trailing /
   {
     ClientConfig config;
 
     FuelClient client(config);
     WorldIdentifier id;
     const common::URI url{
-      "https://fuel.ignitionrobotics.org/german/worlds/Cardboard Box/tip"};
+      "https://fuel.ignitionrobotics.org/german/worlds/Cardboard Box/tip/"};
     EXPECT_TRUE(client.ParseWorldUrl(url, id));
 
     EXPECT_EQ(id.Server().Url().Str(), "https://fuel.ignitionrobotics.org");
diff --git a/src/Helpers.cc b/src/Helpers.cc
new file mode 100644
index 00000000..dface578
--- /dev/null
+++ b/src/Helpers.cc
@@ -0,0 +1,57 @@
+/*
+ * Copyright (C) 2021 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+*/
+#include <ignition/common/Console.hh>
+#include <ignition/common/Filesystem.hh>
+
+#include "ignition/fuel_tools/Helpers.hh"
+
+using namespace ignition;
+using namespace fuel_tools;
+
+//////////////////////////////////////////////////
+std::string ignition::fuel_tools::uriToPath(const common::URI &_uri)
+{
+  auto path = _uri.Path().Str();
+  if (_uri.Path().IsAbsolute())
+  {
+    path = path.substr(1);
+  }
+  common::changeFromUnixPath(path);
+
+  if (!_uri.Authority())
+  {
+    return path;
+  }
+
+  auto authority = _uri.Authority()->Str();
+  if (authority.find("//") == 0)
+  {
+    authority = authority.substr(2);
+  }
+
+  if (authority.empty())
+  {
+    return path;
+  }
+
+  if (path.empty())
+  {
+    return authority;
+  }
+
+  return common::joinPaths(authority, path);
+}
diff --git a/src/Helpers_TEST.cc b/src/Helpers_TEST.cc
new file mode 100644
index 00000000..7cbd73c2
--- /dev/null
+++ b/src/Helpers_TEST.cc
@@ -0,0 +1,72 @@
+/*
+ * Copyright (C) 2021 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+*/
+
+#include <gtest/gtest.h>
+#include <ignition/common/Filesystem.hh>
+#include "ignition/fuel_tools/Helpers.hh"
+
+using namespace ignition;
+using namespace fuel_tools;
+
+/////////////////////////////////////////////////
+TEST(HelpersTEST, UriToPathNoAuthority)
+{
+  {
+    common::URI uri{"http://localhost:8000"};
+    EXPECT_EQ("localhost:8000", uriToPath(uri));
+  }
+
+  {
+    common::URI uri{"http://localhost:8000/some/path"};
+    EXPECT_EQ(common::joinPaths("localhost:8000", "some", "path"),
+        uriToPath(uri));
+  }
+
+  {
+    common::URI uri{"http://localhost:8000/some/path/"};
+    EXPECT_EQ(common::separator(common::joinPaths("localhost:8000", "some",
+        "path")), uriToPath(uri));
+  }
+}
+
+/////////////////////////////////////////////////
+TEST(HelpersTEST, UriToPathHasAuthority)
+{
+  {
+    common::URI uri{"http://localhost:8000", true};
+    EXPECT_EQ("localhost:8000", uriToPath(uri));
+  }
+
+  {
+    common::URI uri{"http://localhost:8000/some/path", true};
+    EXPECT_EQ(common::joinPaths("localhost:8000", "some", "path"),
+        uriToPath(uri));
+  }
+
+  {
+    common::URI uri{"http://localhost:8000/some/path/", true};
+    EXPECT_EQ(common::separator(common::joinPaths("localhost:8000", "some",
+        "path")), uriToPath(uri));
+  }
+}
+
+//////////////////////////////////////////////////
+int main(int argc, char **argv)
+{
+  ::testing::InitGoogleTest(&argc, argv);
+  return RUN_ALL_TESTS();
+}
diff --git a/src/LocalCache.cc b/src/LocalCache.cc
index a89c7d1b..5b3c85b2 100644
--- a/src/LocalCache.cc
+++ b/src/LocalCache.cc
@@ -34,6 +34,7 @@
 #include <ignition/common/Util.hh>
 
 #include "ignition/fuel_tools/ClientConfig.hh"
+#include "ignition/fuel_tools/Helpers.hh"
 #include "ignition/fuel_tools/LocalCache.hh"
 #include "ignition/fuel_tools/Zip.hh"
 
@@ -231,7 +232,8 @@ ModelIter LocalCache::AllModels()
     for (auto &server : this->dataPtr->config->Servers())
     {
       std::string path = common::joinPaths(
-          this->dataPtr->config->CacheLocation(), server.Url().Path().Str());
+          this->dataPtr->config->CacheLocation(), uriToPath(server.Url()));
+
       auto srvModels = this->dataPtr->ModelsInServer(path);
       for (auto &mod : srvModels)
       {
@@ -254,7 +256,7 @@ WorldIter LocalCache::AllWorlds() const
     for (auto &server : this->dataPtr->config->Servers())
     {
       std::string path = common::joinPaths(
-          this->dataPtr->config->CacheLocation(), server.Url().Path().Str());
+          this->dataPtr->config->CacheLocation(), uriToPath(server.Url()));
 
       // Make sure the server info is correct
       auto srvWorlds = this->dataPtr->WorldsInServer(path);
@@ -386,7 +388,7 @@ bool LocalCache::SaveModel(
   std::string cacheLocation = this->dataPtr->config->CacheLocation();
 
   std::string modelRootDir = common::joinPaths(cacheLocation,
-      _id.Server().Url().Path().Str(), _id.Owner(), "models", _id.Name());
+      uriToPath(_id.Server().Url()), _id.Owner(), "models", _id.Name());
   std::string modelVersionedDir =
     common::joinPaths(modelRootDir, _id.VersionStr());
 
diff --git a/src/WorldIdentifier.cc b/src/WorldIdentifier.cc
index 755d1ee5..cdbe6758 100644
--- a/src/WorldIdentifier.cc
+++ b/src/WorldIdentifier.cc
@@ -23,6 +23,7 @@
 #include <ignition/common/Util.hh>
 
 #include "ignition/fuel_tools/ClientConfig.hh"
+#include "ignition/fuel_tools/Helpers.hh"
 #include "ignition/fuel_tools/WorldIdentifier.hh"
 
 using namespace ignition;
@@ -79,7 +80,7 @@ WorldIdentifier::~WorldIdentifier()
 //////////////////////////////////////////////////
 std::string WorldIdentifier::UniqueName() const
 {
-  return common::joinPaths(this->dataPtr->server.Url().Path().Str(),
+  return common::joinPaths(uriToPath(this->dataPtr->server.Url()),
                            this->dataPtr->owner,
                            "worlds",
                            this->dataPtr->name);
diff --git a/tutorials/01_installation.md b/tutorials/01_installation.md
index cf84e496..2da8fe2f 100644
--- a/tutorials/01_installation.md
+++ b/tutorials/01_installation.md
@@ -73,7 +73,7 @@ sudo apt-get remove libignition-fuel-tools6-dev
 Install prerequisites. A clean Ubuntu system will need:
 
 ```
-sudo apt-get install git cmake pkg-config python ruby-ronn libignition-cmake2-dev libignition-common3-dev libignition-msgs5-dev libignition-tools-dev libzip-dev libjsoncpp-dev libcurl4-openssl-dev libyaml-dev
+sudo apt-get install git cmake pkg-config python ruby-ronn libignition-cmake2-dev libignition-common4-dev libignition-msgs5-dev libignition-tools-dev libzip-dev libjsoncpp-dev libcurl4-openssl-dev libyaml-dev
 ```
 
 Clone the repository into a directory and go into it: