accessing a farming operation-specific definition of a boundary corresponding to a geographic area in which an autonomous off-road vehicle (AOV) operates, the boundary definition including a classification of each of a plurality of portions of the boundary as being of one or more boundary types, each boundary type associated with one or more vehicle behavior limitations, the AOV being capable of performing a plurality of farming operations;

navigating, by the AOV and when performing a first farming operation, to a first target portion of the boundary corresponding to the geographic area, the first target portion of the boundary classified as being of one or more first target boundary types; and

in response to being within a threshold distance of the first target portion of the boundary and when performing the first farming operation, modifying, by the AOV, a behavior of the AOV based on a first vehicle behavior limitation associated with the first farming operation and with the one or more first target boundary types, wherein when performing a second farming operation different from the first farming operation, the first target portion of the boundary is associated with a second vehicle behavior limitation, the second vehicle behavior limitation being different from the first vehicle behavior limitation.