Android Arduino Rover
The open source Robots everywhere software is available for download on the android market and more information can be found on http://www.robots-everywhere.com.
I still need to get the tilt servo working, there is map and gps support too that I need to set-up. I have a little circuit that converts the the audio out data from the app to standard serial for the controller, it allows for a bluetooth connection too, I had some trouble getting the two talking with that setup though.
I have tried the Cellbots Android app as well, I could not get the video feed working on the HTC Wildfire or my Galaxy SIII unfortuneately though.
I have one of these android media pc's coming in the mail, It looks like there is a version of ubuntu that it can boot, my plan is to get a webserver running on there and use a usb webcam plugged into the device as opposed to the phone.