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rf modules and DTMF can be used. Some sort of digital circuit must be designed.
First me all you need to make a truth table and then you can make a expression, and circuit.
You could use an Encoder/Decoder Pair along with a RF TX/RX Pair, there are several Encoder/Decoders available which would fulfill your requirements. Holtek Semiconductor, for example, manufactures the HT-12E and HT-12D, the project below demonstrates their use with a RF ASK TX/RX Pair:
Basically, the HT-12E/D pair transmit and receive 4-bits or 16 unique states. Similar encoder/decoder pairs are used to control RC Vehicles, Robots, etc. There are other encoder/decoder pairs available which offer more states or bits if your application requires them. However, 16 states provides quite a few options for your robot, e.g., forward, backward, left, right, etc. And of course all without the use of a MCU.
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