Abstract: A method for use in a robotic work tool system (200) comprising a robotic work tool (100) arranged to operate in an operational area (205) comprising one or more solar panels (10) each solar panel (10) having a panel (11) and one or more poles (12) connected to the panel (11) through a supporting structure (13), the operational area (205) having a surface that is at least partially irregular, and the robotic work tool comprising a memory (120) configured to store supporting structure geometry data, an image sensor (185), wherein the method comprises: receiving an image from the image sensor (185) detecting a pole (12) in the image and determining a scale based on the determined height of the detected pole (12), wherein the pole (12) is detected based on the stored supporting structure geometry data.

Abstract: The present disclosure relates to a method for controlling an autonomous robotic tool using a modular autonomy control unit. The control unit includes an interface with the autonomous robotic tool and comprises a processor, configured to control the autonomous robotic tool during operation. The modular autonomy control unit transfers a set of test instructions to the autonomous robotic tool, triggering the latter to carry out a set of test actions in response to the test instructions—The modular autonomy control unit detects sensor input in response to the test actions, and computes a corresponding error vector, based on which calibration data is updated. Then, the modular autonomy control unit controls the robotic tool based on the calibration data. This allows a general control unit to be used in connections with several types of robotic work tools.