ControlDLNA is a free, open source DLNA and UPnP control point app for your phone.
It lets you play audio and video from any DLNA or UPnP compatible server in the local network to a DLNA or UPnP renderer.
Additionally, other apps can utilize the MediaRouter API to play their media on a remote device.
Source Code and Issue Tracker:
Permissions: READ_PHONE_STATE is required to pause playback on phone call. All other permissions are required for UPnP functionality. ControlDLNA does not access the internet.