Pairing a beacon with a mobile robot

A method performed by a mobile lawn mowing robot, the method comprising:

• pairing a beacon with the mobile lawn mowing robot, wherein pairing the beacon with the mobile lawn mowing robot comprises:
• determining a distance between the beacon and the mobile lawn mowing robot;
• comparing the determined distance to a pairing distance, and outputting a request to position the beacon closer to the mobile lawn mowing robot when the determined distance is greater than the pairing distance;
• and
• determining that the beacon is within the pairing distance from the mobile lawn mowing robot;
• subsequent to pairing, detecting wideband or ultra-wideband signals from the beacon, and using the wideband or ultra-wideband signals to enable navigation over an area;
• identifying an error associated with the beacon;
• and
• outputting an indication of the error via a user interface, wherein outputting the indication of the error via the user interface comprises causing the user interface to present a map indicating a location of the beacon.