A method may include receiving map data descriptive of a plurality of zones located within a parcel of land and receiving information indicative of a plurality of reference coordinates or objects including at least a first and second reference coordinate or object located on the parcel, in which the first and second reference coordinate or object each has corresponding information for defining boundaries for a first workable zone and a second workable zone on the parcel associated therewith, respectively. The method may further include determining the boundaries of the first and second workable zones responsive to detection of at least the first and second reference coordinate or object, respectively. The method may also include receiving time-scheduling instructions for the first and second workable zones, and operating the robotic vehicle to remain within the first and second workable zones in response to the time-scheduling instructions.