An animal farm system comprises a barn (2), animal related structures within the barn, such as a feeding alley (5) and/or a milking system (10), an autonomous vehicle (11) arranged to perform an animal related action and move about in the barn, wherein the vehicle comprises • a control unit (14) to move the vehicle about, • a position determining system (15) for determining a position of the vehicle in the barn, • a sensor system (16, 17) to determine a value of a parameter related to a position of the vehicle with respect to the barn or an object therein, such as the at least one structure therein, and • a vehicle communication device (18), • wherein the control unit further is arranged to contain barn map information, and receive motion control and navigation information via the vehicle communication device, wherein the animal farm system further comprises an external communication device to exchange information with the vehicle communication device, wherein the control unit is arranged to send de
