System and Method for Controlling Animals

Abstract A method for controlling a stimulus apparatus configured to be worn by an animal, the stimulus apparatus comprising a controller interfaced with a location sensor and at least one stimulus output for providing a stimulus to the animal, the method comprising: receiving a boundary specification and monitoring the location of the stimulus apparatus with respect to the boundary defined by the boundary specification; determining an expanded boundary; identifying a transition condition including a transition zone, the transition zone comprising at least a portion of the expanded boundary; monitoring the location of the stimulus apparatus; determining that the location of the stimulus apparatus is within the transition zone; in response, reducing the size of the boundary such that the boundary includes the transition zone and excludes at least a portion of the boundary before expansion, and associated system and device. 12057445_1 (GHMatters) P108736.AU.1 24/01/20 Identify new boundary Path identification Expand boundary Determine transition condition Monitor location no IF no Is tranIsition Has transition condition completed? satisfied? T ye s yes Reduce boundary End Figure 7b