The present disclosure relates to a robotic vehicle (101, 200, 401) for performing a movable operation in a workable area (104, 404, 724) in accordance with a planned path. The movable operation comprises a soil cultivation. The vehicle (101, 200, 401) comprises a memory (209) and a processor (207). The memory (207) comprises instructions, wherein execution of the instructions by the processor (209) causes the vehicle (101, 200, 401) to: detect, in a current position of the vehicle (101, 200, 401), a change (417) in at least part (412) of current boundaries of the workable area (104, 404, 724)； update the workable area (104, 404, 724) by changing boundaries of the workable area (104, 404, 724), the changed boundaries (422) becoming the current boundaries, wherein the update is performed such that the change does not exceed a predefined change threshold distance (501)； and perform the movable operation using the planned path or a re-planned path based on the detected change (417).
