A system and method for controlling a vehicle in response to the presence of one or more vehicle boundary. According to various embodiments, a system is provided that automates end-turns and sequence execution in real-time based on approaching boundaries. In various embodiments, no pre-planning is required once boundaries and a turn pattern have been defined. Once these items are defined, the system creates end-turns based on what type of boundary is approaching and the turn path prescribed. The system determines what vehicle functions to execute based on pre-recorded sequences and executes the turns and the sequences automatically based on the location and speed of the vehicle and its relationship to various boundaries.