There is currently no way to run / run the application with Maven Android Plugin. There is a function request to do just that.
http://code.google.com/p/maven-android-plugin/issues/detail?id=102
and that would be pretty easy to do. I have not yet had the opportunity to do this. Feel free to implement it as a standalone mojo and send a pull request. I can definitely take it for release 3.0.
One thing that happens is when you run the control tests that apk will deploy, as well as the test, and the new parameter in the test code allows you to wait for the debugger to connect.
Update:
Now there is a launch target that will launch your main set of actions as a launch in your AndroidManifest and launch the application on all connected devices and emulators.
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