Yes!
> It seems the first task to solve is boundary marking, and the simplest
> solution seems to be a buried wire.
No, the most simple solution is an ordinary everyday
fence. Simple bump sensors on the robot about would cost 69
cents each (use a dozen if you want to get fancy). Even
the 12" high decorative border fences would work. If you
want to keep it simple, keep it simple.
Wayne Talbot
AWT nospam at io.com