All the above!
I have had three houses with in floor heat. Insulation is your friend; you can't have too much. Also, the floor HAS to have enough tubing to supply all the heat losses at a low water temperatures, say in the order of 100 degrees F, or the water temperature will need to be high enough for the floor to feel hot, which is bad. The answer is to put in more feet of tubing than the calculations call for; space it closer together so the gradient between tubes will be less. Run several parallel paths of about the same length instead of one long loop and space the tubes about 3 inches apart no matter what anybody says about saving money by using a larger spacing. If you need to save money that badly, get another job until you can afford to do this correctly because it is nealy impossible to make up for too little tubing after the fact.
Plan on setting the boiler temp at a modest temperature, maybe 140 F, and use a three port temperature regulating valve to mix the boiler water with some return water to get the 100 F for the floor loop. I used a Watts valve that cost about $35. A single pump can do the job if selection is made VERY carefully, but for the cost of another pump, it is not worth worrying about. Valves and themometers are handy to sort out startup.
To do a real first class job consider reflective bubble insulation under the tubing and gypsum concrete about 1.25 inches above the whole thing to level the temperature gradient. I have used concrete and gypsum and have heard all the horror stories about both, but find both cost about the same and both work very well. The weight savings of gypsum is substantial if this is over a wooden subfloor.
The pumps typically are permanent split capacitor motors and draw very little amps at 120vac. I've never looked for a dc circulator but I'm sure they can be had. The cheapest pumps don't generat enough head to work well pushing through a few hundred feet of tubing so check the specs carefully.
Right now it is 22 out side and I have the floor of my sunroom at 95 F and the air is 68 F, the garage floor is at 75 and the air is at 45. I'm using a propane hot water heater for the main source of heat, with a coil in my wood stove sucking up some 'free' heat. In floor heating can't be beat for my money.
George