Robotic work tool system comprising a first work area bounded by a first boundary, a second work area bounded by a second boundary, and a robotic work tool comprising a controller, wherein the robotic work tool system further comprises a boundary wire marking one or both of the first and the second boundary and the robotic work tool further comprises a magnetic sensor, and/or the robotic work tool system further comprises a beacon marking one or both of the first and the second boundary and the robotic work tool further comprises a navigation sensor; wherein the controller is configured to: operate in a first domain mode in the first work area according to the first boundary and operate in a second domain mode in the second work area according to the second boundary, wherein the controller is further configured to operate in a domain mode for one or both of the first or second work area according to the magnetic sensor sensing a magnetic field emitted from the boundary wire and/or according to the navigation sensor sensing a signal emitted from the beacon, and wherein the robotic work tool system is characterized in that the controller is further configured to allow the robotic work tool to navigate to a crossing zone inside the first work area operating in the first domain mode according to the first boundary, determine that the robotic work tool is in the crossing zone and then switch from the first domain mode to the second domain mode and to leave the first work area operating based on the second domain mode and continue operating in the second work area according to the second boundary. the robotic work tool system further comprises a boundary wire marking one or both of the first and the second boundary and the robotic work tool further comprises a magnetic sensor, and/or the robotic work tool system further comprises a beacon marking one or both of the first and the second boundary and the robotic work tool further comprises a navigation sensor; wherein the controller is configured to: operate in a first domain mode in the first work area according to the first boundary and operate in a second domain mode in the second work area according to the second boundary, operate in a first domain mode in the first work area according to the first boundary and operate in a second domain mode in the second work area according to the second boundary, wherein the controller is further configured to operate in a domain mode for one or both of the first or second work area according to the magnetic sensor sensing a magnetic field emitted from the boundary wire and/or according to the navigation sensor sensing a signal emitted from the beacon, and wherein the robotic work tool system is characterized in that the controller is further configured to allow the robotic work tool to navigate to a crossing zone inside the first work area operating in the first domain mode according to the first boundary, determine that the robotic work tool is in the crossing zone and then switch from the first domain mode to the second domain mode and to leave the first work area operating based on the second domain mode and continue operating in the second work area according to the second boundary.