Methods for utilizing virtual boundaries with robotic devices are presented including: positioning a boundary component having a receiver pair to receive a first robotic device signal substantially simultaneously by each receiver of the receiver pair from a robotic device only when the robotic device is positioned along a virtual boundary； operating the robotic device to move automatically within an area co-located with the virtual boundary； transmitting the first robotic device signal by the robotic device； and receiving the first robotic device signal by the receiver pair thereby indicating that the robotic device is positioned along the virtual boundary.
