This uses a Bluetooth backport to allow phones with Android 1.x to talk to Bluetooth-enabled chasses. Install the 2.x version on 2.x phones!
www.f3.to Check the wiki and forums for schematics, source code, and instructions (and get the Java console from there)
One year after its publication, the original Android robotics project finally hits the Market. Use your phone as the brains of autonomous and telepresence vehicles on land, sea and air; control them with a computer, another phone, or even via SMS messages; get a video feed back even in 1G coverage areas. This has already been used across 9 time zones, including on public roads in two countries!