Animal farm system, comprising - a barn for holding animals, in which barn the animals are allowed to move about freely, and that has walls, - at least one animal related structure (4, 5, 8, 9, 10) positioned within the barn, such as a feeding alley or feeding system, a drinking system, a cubicle, and/or a milking system, - an autonomous vehicle arranged to perform an animal related action and to move about in the barn, wherein the vehicle comprises - a control unit to control the autonomous vehicle at least to move the vehicle about in the barn, - a position determining system operably connected to the control unit, for determining a position of the vehicle in the barn with respect to a reference position, - a sensor system (16, 17) operably connected to the control unit, and arranged to repeatedly 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 operably connected to the control unit, wherein the control unit is arranged to receive motion control information and/or navigation information via the vehicle communication device, wherein the animal farm system further comprises an external communication device arranged to exchange information with the vehicle communication device, wherein the control unit is arranged to send the at least one determined position of the vehicle, and the at least one determined parameter value via the vehicle communication device to the external communication device, wherein the external communication device is arranged to visualise the received at least one determined position of the vehicle, and to visualise the received at least one determined parameter value in dependence of the momentary determined position of the vehicle, wherein the external communication device is further arranged for inputting, such as by drawing, by a user, of barn map information on the basis of the visualised position and/or parameter values, and is further arranged to send the inputted barn map information to the control unit. - a barn for holding animals, in which barn the animals are allowed to move about freely, and that has walls, - at least one animal related structure (4, 5, 8, 9, 10) positioned within the barn, such as a feeding alley or feeding system, a drinking system, a cubicle, and/or a milking system, - an autonomous vehicle arranged to perform an animal related action and to move about in the barn, wherein the vehicle comprises - a control unit to control the autonomous vehicle at least to move the vehicle about in the barn, - a position determining system operably connected to the control unit, for determining a position of the vehicle in the barn with respect to a reference position, - a sensor system (16, 17) operably connected to the control unit, and arranged to repeatedly 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 operably connected to the control unit, - a control unit to control the autonomous vehicle at least to move the vehicle about in the barn, - a position determining system operably connected to the control unit, for determining a position of the vehicle in the barn with respect to a reference position, - a sensor system (16, 17) operably connected to the control unit, and arranged to repeatedly 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 operably connected to the control unit, wherein the control unit is arranged to receive motion control information and/or navigation information via the vehicle communication device, wherein the animal farm system further comprises an external communication device arranged to exchange information with the vehicle communication device, wherein the control unit is arranged to send the at least one determined position of the vehicle, and the at least one determined parameter value via the vehicle communication device to the external communication device, wherein the external communication device is arranged to visualise the received at least one determined position of the vehicle, and to visualise the received at least one determined parameter value in dependence of the momentary determined position of the vehicle, wherein the external communication device is further arranged for inputting, such as by drawing, by a user, of barn map information on the basis of the visualised position and/or parameter values, and is further arranged to send the inputted barn map information to the control unit.