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.

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.

Abstract: A wearable apparatus for attaching to an animal, the apparatus comprising: a controller; and a motion sensor interfaced with the controller and configured to provide motion data to the controller, wherein the controller is arranged to implement a current behaviour modeller configured to: receive motion data from the motion sensor; and select a current behaviour from a current behaviour set comprising a plurality of predefined behaviours, such that the selected current behaviour is a prediction of an actual animal behaviour.