A method may include receiving map data descriptive of a parcel of land and receiving information indicative of at least one reference object physically or virtually located within the parcel, in which the reference object may have corresponding information for defining boundaries for an exclusion area on the parcel associated therewith. The exclusion area may define an area to not be worked and/or entered by a robotic vehicle. The method may also include determining the boundaries responsive to detection of the at least one reference object and operating the robotic vehicle to remain outside the area defined by the boundaries.
