There is provided an aerial platform comprising a spraying module, one or more actuators operatively coupled to the spraying module, at least a sensor for acquiring data indicative of altitude, wherein at least a controller is configured to control a position of the spraying module relatively to the aerial platform based on control signals generated during control cycles and applicable to the one or more actuators, the controlling comprising cyclically acquiring with said sensor data indicative of an altitude of a surface area in the flight path direction of the aerial platform, wherein said surface area is to be sprayed in a next control cycle, generating a control signal based on at least said acquired data, so as to maintain the altitude of the spraying module at a required distance of the altitude of the surface, and applying the generated control signal to the one or more actuators. There is also provided methods and systems for controlling a motion of the spraying module.
