In an era of growing security concerns, with the context of Ad hoc wireless communication which is common in the domain of Internet of Things (IoT) or remote areas where Internet is not a viable option, establishing trust between two entities is challenging. Not only the protocol should be formidable to deny connection for untrusted entities but also cost-effective and practically viable. This paper demonstrates how zero-trust framework can be employed in ad hoc wireless communications through a surveillance robot with remote control and live video stream. We achieve zero-trust connection using mutual-Transport Layer Security (mTLS) protocol between the endpoints. This secure connection is then used to exchange control messages for robot movement and for the live video stream. The endpoints communicate over Ad hoc Wi-Fi and hence there is no need for router or Wi-Fi access points or internet. Since Wi-Fi has limited range, this work can be further extended over long-distance communication where a network of Ad Hoc peers employs a routing protocol for transfer of packets between two endpoints within their network.