Due to the fact that the user is controlling the locomotion of the robot, and the robot can only provide local movements, path planning of the end effector must be done online. I have developed path planning methods that can control an under-actuated robot (1 DOF) to target pre-defined patches on a target object. Further I have developed a path planner that dynamically chooses pre-defined 3D paths based on the current location of the robot and it’s reachable region in the case where the robot is locally fully actuated (5DOF in the case of spraying tasks).