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Smartphones are becoming more and more high- performance devices every year, which allows to use them in new types of applications, including control and automation. This paper presents an Android OS based control tool that unifies a remote control of heterogeneous robotic systems. The current version of the tool controls the humanoid ROBOTIS OP2 robot, the wheeled differential drive TIAGo Base mobile robot, and the crawler Servosila Engineer mobile robot. Communication between a mobile device and the robots employs the RosJava library and the TCP/IP network protocol stack. The controls were implemented for compound kinematic systems with 3D robots’ models displaying. Sensory data visualization and robots’ movements controls were added to the application.