The present disclosure relates to a method and a system e.g. for mowing grass using a self-propelled robotic tool (14). The robotic tool (14) receives a first signal from a beacon (40) and determines, based on this signal, a distance from the robotic tool to the beacon. The robotic tool moves, for instance based on odometry data generated by the robotic tool itself, along a circular arc (60) corresponding to a circle with a radius equal to the determined distance, and subsequently receives later signals from the beacon and determining the current distance from the beacon to the robotic tool to adjust its direction to maintain a is constant distance to the beacon over a period of time. This makes it possible to mow the grass in an area in a structured and efficient way.
