Abstract: Construction vehicles using a teach and repeat system can ascertain boundaries of a task area while working, without knowing a perimeter of the task area before starting the task. The system maps a first path of the vehicle by recording a position of a vehicle moving from a first start position to a first end position. A second path is predicted, based on a shape of the first path, the second path having a second start position and a second end position. A third path is mapped from a third start position to a third end position. Boundaries of the task area are ascertained based on the first path, the first start position, the second start position, the third start position, the third path, the first end position, the second end position, and the third end position.