The way-point control of the Ackerman Steering kinematics robot has been completed. The developed control law has been tested and validated experimentally.

The robot with the atomizer for the sucker's control has an Ackerman Steering kinematics. Within PANTHEON a novel control law to control this kinematics has been developed which allows an effective navigation via waypoint.

The properties of the designed control law have been proved in theory, implemented in the robot, and tested experimentally in the posted video.