Abstract: A robotic lawnmower system comprising a boundary wire and a robotic lawnmower arranged to operate in an operational area bounded by a virtual boundary, the robotic lawnmower comprising one or more magnetic sensors, one or more satellite navigation sensors and a controller, wherein the controller is configured to: cause the robotic lawnmower to operate in the operational area according to the virtual boundary based on the one or more satellite navigation sensors, determine that the robotic lawnmower is approaching the boundary wire, determine a boundary location, determine a distance (d) between the virtual boundary and the boundary wire at the boundary location, compare the determined distance (d) to a mode determination distance (D), and if the determined distance (d) is greater than the mode determination distance D, the robotic lawnmower is configured to cross the boundary wire and continue operating within the virtual boundary, or if the determined distance (d) is less than the mode determination distance

Abstract: A method including measuring a physical quantity having a magnitude that changes in time as a result of a fire shot event so as to obtain a measurement signal, and comparing the measurement signal with a predetermined time-domain fingerprint for said quantity, which fingerprint is characteristic of the way the quantity varies in time upon a fire shot event, in order to confirm the occurrence of a fire shot event in case the measurement signal and the fingerprint match.

Abstract: A method including measuring a physical quantity having a magnitude that changes in time as a result of a fire shot event so as to obtain a measurement signal, and comparing the measurement signal with a predetermined time-domain fingerprint for said quantity, which fingerprint is characteristic of the way the quantity varies in time upon a fire shot event, in order to confirm the occurrence of a fire shot event in case the measurement signal and the fingerprint match.