Abstract: The present disclosure relates to a robotic working tool system comprising a robotic working tool (1), and navigation means enabling the robotic working tool to navigate within a working area (3) defined by a working area boundary (13). The navigation means comprising a base RTK unit (9), adapted to be stationary during operation of the robotic working tool (1), a mobile RTK unit (11), adapted to move with and provide positioning data to the robotic working tool (1), and a recording RTK unit (11, 9, 17) which is separate from or separable from the robotic working tool (1) to be moved along a path (15) to record position data corresponding to the working area boundary (13) independently of the robotic working tool (1), and to transfer the position data to the robotic working tool (1).

Abstract: A robotic work tool system (200) for defining a stay-out area (120) within a work area (150). The stay-out area (120) is an area which is to be excluded from the work area (150) in which a robotic work tool (100) is subsequently intended to operate. The robotic work tool system (200) comprises a boundary definition unit (130) comprising at least one position unit (175) configured to receive position data and at least one controller (110, 210). The controller (110,210) is configured to receive a stay-out area definition trigger signal, which indicates that the boundary definition unit (130) has approached the stay-out area to be defined. The controller (110,210) is further configured to receive, based on the received signal, position data indicating the present position of the boundary definition unit (130) from the position unit (175). The controller (110,210) is further configured to define the stay-out area (120) as an area centered at an offset from the received position data.

Abstract: A method for use in a robotic work tool system (300) comprising a robotic working tool (200), the robotic working tool (200) comprising a signal navigation device (290), wherein the method comprises: determining (515) a location of at least one boundary point (BP); determining (525) a variance of the location(s); and to determining the boundary (320) based on the variance of the location(s) utilizing the innermost of the variance(s).