At least some of the heliostats can be arranged and operated in such a manner that the maintenance vehicle can pass through the solar field along conditional pathways. The arrangement and control of the heliostats to allow access to heliostats by a maintenance vehicle can enable different heliostat patterns as compared with conventional arrangements. In particular, heliostats in one section of the solar field, which may be less geometrically efficient, can be arranged at a higher density as compared to heliostat in another section of the solar field. In addition, the locations of heliostats in various sections of the field can be optimized based on ground coverage as viewed from a vantage point in the solar tower and/or revenue generation without constraining the locations to particular line or arc patterns.