A layered heater is provided that comprises a dielectric layer formed by a first layered process, a resistive layer formed on the dielectric layer, the resistive layer formed by a second layered process, and a protective layer formed on the resistive layer, wherein the protective layer is formed by one of the first or second layered processes or yet another layered process. The physical integration characteristics are based upon IP physical integration at an anchor point in a pre-defined IC platform. The boundary sensor assembly generates a sensor signal representative of a measured yaw angle of the mower relative to the boundary wire, and the navigation arbitration logic is configured to generate output information representative of a desired yaw angle dependent on an assumed actual yaw angle.