Disclosed is a method of guiding a mobile robot, comprising: providing a transmitter (110), and having said transmitter transmit a guide signal (300) into a spatially bounded guide signal reception field (302); providing a mobile robot (200) including two mutually adjacently disposed guide signal sensors (210a, 210b), each configured to generate a reference signal that reflects its reception of the guide signal; and moving the robot along a boundary portion (306) of the guide signal reception field while, based on said reference signals, maintaining a tracking state in which a first of said guide signal sensors (210a) is positioned substantially on a first side of said boundary portion, and a second of said guide signal sensors (210b) is positioned substantially on an opposite, second side of said boundary portion (306). Also disclosed is a system implementing the method.