In December’s robot club video call David Hannaford shared an update on his presentation from Minos showing how to add remote control to your robot using an Android phone. The approach uses the MIT App Inventor software to build the software for the phone and sketch code on the Arduino to communicate over bluetooth.
You can see a short video demonstrating this in action here: https://www.youtube.com/watch?v=izxLFeihBrg
David’s presentation can be viewed here: control_from_phone(1)