The invention relates to a method of cleaning at least a part of a cubicle from a row of individual cubicles (1-4) in a stable, each cubicle having lateral partitions (7-9) extending in the longitudinal direction on each side of the cubicle, the method comprising the steps of providing a sensor arrangement comprising an animal presence sensor for detecting the presence of an animal in a cubicle and a partitions sensor for detecting the lateral partitions, and providing an autonomous unmanned vehicle, the vehicle comprising a control system for controlling the operation of the vehicle and cubicle floor cleaning means, and the method further comprising the steps of detecting by an animal presence sensor a first of the cubicles free of an animal, detecting whether an animal is present in a second of the cubicles neighboring next to the first cubicle, generating a signal by the partitions sensor for the control system of the vehicle regarding the position of the vehicle with respect to at least one lateral partit
