You need to provide either a "color map" or, if you use the default color_map, a vertex_index_map that maps vertex_descriptors into the range [0, num_vertices(g)). When you use vecS for the vertex list it has a vertex_index_map by default, but not so when you use listS for the vertex_list:
http://www.boost.org/doc/libs/1_39_0/libs/graph/doc/breadth_first_search.html
Here is an example that uses listS for the vertex_list and makes color a vertex property:
http://www.boost.org/doc/libs/1_39_0/libs/graph/example/bfs-example2.cpp
-- Michael
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