We are involved in development on the android phone ourselves. We just published our newest app. It's called meet-me:
With only few fingertips you can find your friends in the biggest crowd. Their location is presented by a stylish arrow and distance. Awesome: the positions are dynamically updated. So you can navigate to moving destinations!
Legendary: No personal Data is stored nor any movement profile created, as Google normally would do.

Please take a look.

Hey,
after many requests we have decided to provide a free lite version of meet-me. Now you can navigate to your friends for free. The lite version is totally free and has the full functionality. Only the number of friends is limited.
Check it out and meet.

meet-me Blog