#$%^&*AU2020200530A120200402.pdf#####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 24/01/207/12 Identify new boundary 100 Path identification 101 Expand boundary 102 Determine transition condition 103 Monitor location 104 no IF no Is tranIsition Has transition condition completed? satisfied? 106 T ye s yes Reduce boundary End 105 Figure 7b
