Maven dependencies not properly resolved as modules

I have a multi module project consisting of one parent pom, and several children poms.
Those children poms have dependencies between each other, and look like the following

parent-artifactId parent-groupId parent-version 4.0.0 child1-groupId child1-artifactId jar ${project.parent.version}]]>

It seems using this property for the version attribute (which eases maintaining the poms) prevents IDEA from properly resolving the dependencies. When replaced with the parent version value (eg : substituting the property with its value), dependencies are resolved correctly.