A robotic work tool system comprising a boundary wire, a first charging station (210: 1), a second charging station (210:2), wherein each charging station comprises a base station wire, and wherein the first charging station (210: 1) comprises a first signal generator (215: 1) arranged to transmit a first control signal (225: 1), the first control signal (225:1) comprising a first boundary signal being transmitted through the boundary wire and a first base station signal being transmitted through the base station wire (220F: 1) of the first charging station (210: 1); wherein the second charging station (210:2) comprises a second signal generator (215:2) arranged to transmit a second control signal (225:2), the second control signal (225:2) comprising a second boundary signal and a second base station signal both being transmitted through the base station wire (220F:2) of the second charging station (210:2), wherein the robotic work tool system further comprises a first robotic work tool (100:1) associated with the first charging station (210:1) and one or more second robotic work tools (100:2) each associated with the second charging station (210:2), wherein the first and second robotic work tools are arranged to operate in an operational area bounded by the boundary wire, the operational area encompassing the first charging station (210:1) and the second charging station (210:2), wherein at least one of the one or more second robotic work tools (100:2) comprises a controller, wherein the controller is configured to: operate in the operational area according to the first control signal (225: 1), navigate the robotic work tool (100:2) to locate and move the robotic work tool (100:2) to the first charging station (210: 1) based on the first control signal (225: 1); determine that the robotic work tool (100:2) is not associated with the first charging station (210:1) and in response thereto navigate the robotic work tool (100:2) to distance the robotic work tool from the first charging station (210:1) in a predetermined manner by turning and then moving the robotic work tool a predetermined distance in a straight line from the first charging station (210: 1); synchronize to the second control signal (225:2); and navigate the robotic work tool (100:2) to enter the second charging station based on the second control signal (225:2). wherein the first charging station (210: 1) comprises a first signal generator (215: 1) arranged to transmit a first control signal (225: 1), the first control signal (225:1) comprising a first boundary signal being transmitted through the boundary wire and a first base station signal being transmitted through the base station wire (220F: 1) of the first charging station (210: 1); wherein the second charging station (210:2) comprises a second signal generator (215:2) arranged to transmit a second control signal (225:2), the second control signal (225:2) comprising a second boundary signal and a second base station signal both being transmitted through the base station wire (220F:2) of the second charging station (210:2), wherein the robotic work tool system further comprises a first robotic work tool (100:1) associated with the first charging station (210:1) and one or more second robotic work tools (100:2) each associated with the second charging station (210:2), wherein the first and second robotic work tools are arranged to operate in an operational area bounded by the boundary wire, the operational area encompassing the first charging station (210:1) and the second charging station (210:2), wherein at least one of the one or more second robotic work tools (100:2) comprises a controller, wherein the controller is configured to: operate in the operational area according to the first control signal (225: 1), navigate the robotic work tool (100:2) to locate and move the robotic work tool (100:2) to the first charging station (210: 1) based on the first control signal (225: 1); determine that the robotic work tool (100:2) is not associated with the first charging station (210:1) and in response thereto navigate the robotic work tool (100:2) to distance the robotic work tool from the first charging station (210:1) in a predetermined manner by turning and then moving the robotic work tool a predetermined distance in a straight line from the first charging station (210: 1); synchronize to the second control signal (225:2); and navigate the robotic work tool (100:2) to enter the second charging station based on the second control signal (225:2). operate in the operational area according to the first control signal (225: 1), navigate the robotic work tool (100:2) to locate and move the robotic work tool (100:2) to the first charging station (210: 1) based on the first control signal (225: 1); determine that the robotic work tool (100:2) is not associated with the first charging station (210:1) and in response thereto navigate the robotic work tool (100:2) to distance the robotic work tool from the first charging station (210:1) in a predetermined manner by turning and then moving the robotic work tool a predetermined distance in a straight line from the first charging station (210: 1); synchronize to the second control signal (225:2); and navigate the robotic work tool (100:2) to enter the second charging station based on the second control signal (225:2).