We can make a Yurt with underfloor heating using something like the Korean Ondol method. For that we need a long 6-inch wide strip of corrugated metal sheet material which can be loosely rolled into a spiral shape and laid on the ground to support the floor of the Yurt. (Spiral roll shape should be as
large as the Yurt itself).
On top of our laid out spiral roll, we can lay down metal planks or ceramic tiles to cover it and be our floor. On top of this, we can lay down a heat-resistant silicone mat. This is now the floor of our Yurt, and the rest of the Yurt can be made in the standard Yurt way.
At the mouth of our spiral, we will have a fire pit or hearth dug into the ground, where we can place wood/coal for burning. The idea is to have the hot gases from that hearth drawn into the spiral and travel along its spiral channel corridor, until reaching the centerpoint of the spiral, where there will be a central chimney flue that comes up through the center of the Yurt.
This solution is meant to be portable and able to be set up in an impromptu manner, as Yurts are supposed to be.