I just made a very simple example using Zeroc's Ice which illustrates how to control Blender objects remotely using Ice. Since Blender can run Python scripts, the idea is to write Ice server which can modify certain object properties (for example location). Corresponding client application can remotely invoke server methods and control objects remotely. Sources are available on GitHub. The first video illustrates how it works.
This example is actually the first step to integrate Blender Gaming Engine (BGE)-based robot simulation with Ice-based communication infrastructure we have made for our open-source robotics project. The second video shows our BGE-based simulation application (not yet integrated).
https://www.youtube.com/watch?v=nl1CO97FgQQ