Not sure where to put this. I’m wondering if there is anything out there that you can use to “trace” a perimeter, which gets relayed back to the robot, and the robot stays in said perimeter? Kind of like a pen, or beacon, replacing the buried undergound perimeter wire.
It will come down to the software you create. Some complex flight controllers have something of a “virtual GPS-based fence”, but if you create one yourself your code needs to be able to differentiate coordinates “within” the perimeter vs “outside”.