A robotic vehicle for movable operation in a work area, the movable operation comprising a soil cultivation, the work area being represented by a set of discretized coordinate grid points, the vehicle comprising a controller, the controller comprising a memory and a processor, the memory comprising instructions, wherein execution of the instructions by the processor causes the vehicle - to perform the movable operation along a scheduled movement trajectory (130; 410; 1200) of the vehicle, the movable operation along the scheduled movement trajectory (130; 410; 1200) covering a set of scheduled grid points of the set of discretized coordinate grid points, - during performing the movable operation along the scheduled movement trajectory (130; 410; 1200) of the vehicle, to correct the movement of the vehicle for compensating for a deviation of the real movement trajectory of the vehicle from the scheduled movement trajectory (130; 410; 1200), in order to minimize a number of uncovered grid points of the set of scheduled grid points, - to determine if due to the deviation of the real movement trajectory of the vehicle from the scheduled movement trajectory (130; 410; 1200) deviated grid points representing grid points of the set of scheduled grid points are uncovered by the movable operation along the scheduled movement trajectory (130; 410; 1200), - in case deviated grid points are uncovered, to repeat the performing of the movable operation and the determination of uncovered deviated grid points with the scheduled movement trajectory (130; 410; 1200) being a new scheduled movement trajectory of the vehicle covering the uncovered deviated grid points, wherein, in case at a given one of the uncovered deviated grid points the deviation of the real movement trajectory of the vehicle from the scheduled movement trajectory (130; 410; 1200) occurred following a predefined repetitive schematic for movement trajectories scheduled for different points in time, for a movement trajectory scheduled for a future point in time covering said given uncovered deviated grid point the correction of the movement is proactively applied when the vehicle moves over said given previously uncovered deviated grid point, the repetitive schematic optionally being based on at least one of a minimum number of the occurrences, a frequency pattern of the occurrence, a predefined time frame, an environmental condition at the work area at the point in time of the occurrence, a season at the point in time of the occurrence, and combinations thereof. - to perform the movable operation along a scheduled movement trajectory (130; 410; 1200) of the vehicle, the movable operation along the scheduled movement trajectory (130; 410; 1200) covering a set of scheduled grid points of the set of discretized coordinate grid points, - during performing the movable operation along the scheduled movement trajectory (130; 410; 1200) of the vehicle, to correct the movement of the vehicle for compensating for a deviation of the real movement trajectory of the vehicle from the scheduled movement trajectory (130; 410; 1200), in order to minimize a number of uncovered grid points of the set of scheduled grid points, - to determine if due to the deviation of the real movement trajectory of the vehicle from the scheduled movement trajectory (130; 410; 1200) deviated grid points representing grid points of the set of scheduled grid points are uncovered by the movable operation along the scheduled movement trajectory (130; 410; 1200), - in case deviated grid points are uncovered, to repeat the performing of the movable operation and the determination of uncovered deviated grid points with the scheduled movement trajectory (130; 410; 1200) being a new scheduled movement trajectory of the vehicle covering the uncovered deviated grid points, wherein, in case at a given one of the uncovered deviated grid points the deviation of the real movement trajectory of the vehicle from the scheduled movement trajectory (130; 410; 1200) occurred following a predefined repetitive schematic for movement trajectories scheduled for different points in time, for a movement trajectory scheduled for a future point in time covering said given uncovered deviated grid point the correction of the movement is proactively applied when the vehicle moves over said given previously uncovered deviated grid point, the repetitive schematic optionally being based on at least one of a minimum number of the occurrences, a frequency pattern of the occurrence, a predefined time frame, an environmental condition at the work area at the point in time of the occurrence, a season at the point in time of the occurrence, and combinations thereof.