I am researching about exploration in robotics field, for example, how to make roomba (I hope you all might know this cleaning robot) explore more efficiently in an office room. For some cleaning robots, they try to use a shape of the room to decide the efficient path for the robots to explore and clean the room.

Since this kind of exploration plans are not necessary limiting to only room. It can be any environment. For example, we want a robot to clean on the table, so here we use the shape of table's surface (which is usually square or circle ) to make effective path.

So here comes the question. I want to use more appropriate word for "the shape of environment." Because "shape" can be more than 2 dimension and I want to mean only the draft line of shape of environment like the lines you draw on soccer field, basketball field, etc. What I am only thinking of now are "the boundary of environment" or "the outline of environment." Any suggestion would be appreciated.