Controlling Arduino with Android using Processing may be similar to what you're looking for.
As far as I know, this library only gives you basic serial communication between the Processing sketch and an Arduino. I belive it doesn't support chips besides the ATmega, and it doesn't support wireless communication, but serial communication is fairly standardized, so you may have luck with other serial devices.
Keep in mind that Processing for Android is not optimized for performance, since the underlying PApplet class constantly calls your draw() method, and thus spins CPU and possibly redraws graphics. You'll drain battery life pretty quickly. If you plan on sticking an Android on a quad copter and controlling over the web, you'll have better luck with a dedicated wireless device such as the Xbee for the wireless portion. You could still use the Android + Arduino/Whatever + Client Xbee for the "remote". One last disadvantage is that it may be tricky getting core API access while in Processing for Arduino. The standard Processing functions + plumbing have been ported over nicely, but if you may end up on your own if you try to, for example, make a phone call or prevent the phone from sleeping.
That all being said, once you are all set up, Processing + Android is a piece of cake. It sure beats having to go through the entire development chain for a normal application, and you don't have to write any Swing-equivalents. Best yet, it'll give you some flexibility in controlling your device via your computer or through an Android device.
