Are planning to only output one on-off output to make the tractor move? Only forward at one speed? All the safety sensors on a module on the tractor?
For the boundary there are treads on the forum talking about this.
like this: general-purpose-autonomous-rover
I don’t know but there is probably already a bool for the vehicle being in the field.
But I would make something to have some metres of “buffer zone” around the real boundary for more safety, the quick fix would be to have a field in AOG with the boundary inside the real one!
For the GPS signal there is already a variable for this in AOG so would be easy to implement.
Something to think and work on is how it will start to drive autonomously, starting the tractor and jumping of is certainly not the way to go! 