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I would make 4 trigger zones like walls in a square pattern (with the ends sticking out a bit extra), then rig the puppets to walk straight and turn at 90º when they hit the next one. It might be a bit complex setting it up to switch to waiting for the next wall, but it's doable. You'd also have to place them in alignment with the grid, otherwise it would break down super fast.
But my strength is art, not coding. >.<
Andy