I also encountered the same problem when using latest ADT from google and trying to compile the bootstrap android platform.
The latest r17 build separate out aapt to build-tools folder. Hence it is maven-android-plugin cannot support it.
See issue discussed here.
Tried and working:
cd $ANDROID_HOME/platform-tools
ln -s ../build-tools/android-4.2.2/aapt aapt
ln -s ../build-tools/android-4.2.2/lib lib
ln -s ../build-tools/android-4.2.2/aidl aidl
Some installations may be structured using the API version:
cd $ANDROID_HOME/platform-tools
ln -s ../build-tools/17.0.0/aapt aapt
ln -s ../build-tools/17.0.0/lib lib
ln -s ../build-tools/17.0.0/aidl aidl
Keep in mind that this is fixed in the latest version (>3.5.3) of the Android Maven Plugin, as other answers point out.