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There is official API for Windows, WindowsPhone8 and WinRT https://legoev3.codeplex.com/ it lets you connect to EV3 brick and control it remotely from your WindowsPhone.

Are there any libraries available for Android (Java) or iOS (Objective-C)?

I would like to write custom app for myself that will let me steer my own robots (using either Android or iOS device).

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Hmm, I imagine there will be eventually - I'm guessing MS offered to release the Windows one as LEGO hadn't released the "Commander" app on their platform. LEGO did release a BlueTooth Developer Kit and Mobile Application Software for the NXT so it's probably coming. –  Zhaph - Ben Duguid Apr 2 at 16:10
    
Taking a look at the code in the Windows API, there are no external dependencies - so assuming you have access to the Bluetooth ports on iOS/Andriod, there should be nothing stopping you porting this to your platform of choice with a little effort - the main "API" is in the Lego.Ev3.Core namespace, which is pulled into the Phone/Desktop/WinRT projects that provide the communication wrappers that are then used by the sample projects - the Desktop project has the added excitement of Brian's WIImote support ;) –  Zhaph - Ben Duguid Apr 2 at 16:19
    
@Zhaph-BenDuguid how about Xamarin would it work on iOS –  michael Apr 3 at 12:18

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