Wireless control of ssc-32 through phone(android)

Hi,
I am planning on developing an android app to control my hexapod with the ssc-32 through wireless. I’m trying to find the cheapest solution possible. At first I was going to go for TCP/IP modules so that I can add a camera on my robot in the near future, but so far I’ve only looked at RS232 wifi modules and they seem to only support one device at a time.

It seems that bluetooth is the cheapest solution but apparently there are others (haven’t really looked at zigbee, not too sure how it works). I’m wondering if anyone can provide suggestions? I have no problem just getting the module and making a small board for the power supply/logic level adjustments (3.3V vs 5V), but I also don’t mind for practicality as well (if reasonably priced).

The bare-bones cheapest solution is IR, but you’ll need to work to get a cheap circuit done. The second least expensive is RF. Bluetooth is not expensive, but not the least expensive either. Zigbee is good for having multiple modules communicate with one another and/or long-range.
robotshop.com/data-telemetry.html