Abstract: A robotic work tool (1) includes a cutting disk (6), which is rotatable and height adjustable. The robotic work tool (1) is configured to obtain a final desired cutting height of the cutting disk (6); determine a first cutting height, based at least on the final desired cutting height; raise the cutting disk (6) to an elevated position above the first cutting height; start a rotation of the cutting disk (6); and lower the cutting disk (6) to the determined first cutting height.

Abstract: A method for use in a robotic work tool system (300) comprising a first work area (305A) bounded by a first boundary (320A), a second work area (305B) bounded by a second boundary (320B) and a robotic work tool (200), wherein the method comprises: operating the robotic work tool (200) in a first domain mode in the first work area (305A) according to the first boundary (320A); determining that the robotic work tool (200) is in a crossing zone (Z) and then operating the robotic work tool (200) in a second domain mode in the second work area (305B) according to the second boundary (320B).

Abstract: A robotic work tool comprising a propulsion device, a satellite navigation device and a controller, wherein the controller is configured to: cause the robotic work tool to exit a service station a predefined distance by operating the propulsion device; determine that the satellite navigation device is receiving reliable signals and then navigate the robotic work tool based on the satellite navigation device.

Abstract: A robotic work tool (1) comprises a cutting disk (6), which is rotatable and height adjustable. The robotic work tool (1) is configured to obtain a final desired cutting height of the cutting disk (6); determine a first cutting height, based at least on the final desired cutting height; raise the cutting disk (6) to an elevated position above the first cutting height; start a rotation of the cutting disk (6); and lower the cutting disk (6) to the determined first cutting height. A method for running a robotic work tool (1) comprises the steps of obtaining an final desired cutting height; determining a first cutting height, based at least on the final desired cutting height; raising the cutting disk (6) to an elevated position above the first cutting height; starting a rotation of the cutting disk (6); and lowering the cutting disk (6) to the determined first cutting height.