Propulsion Control Arrangement, Robotic Tool, Method of Propelling Robotic Tool, and Related Devices

A propulsion control arrangement () for a self-propelled robotic tool () is disclosed, wherein the robotic tool () comprises at least one swivel caster wheel (′) configured to abut against a ground surface () during operation of the robotic tool (). The control arrangement () is configured to, upon detection of a stop event of the robotic tool () after travel in a first longitudinal direction (ld) of the robotic tool (), turn the robotic tool () a predetermined angle (a), and then initiate propulsion in a second longitudinal direction (ld) of the robotic tool () being opposite to the first longitudinal direction (ld). The present disclosure further relates to a self-propelled robotic tool (), a method () of propelling a self-propelled robotic tool (), a computer program, and a computer-readable medium ().