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We are similar that 3 of us are in the same city, but not very close. The 4th is out of state, but travels at least once a month. The major difference is that we are all full time on our startup.

IM/Voip (Gtalk/Skype) for daily communication Email (Pretty much goes without saying) Skype Screen Share/ GoToMeeting when required to view things together. RedMine for bug/issue tracking

We actually never use video calls, don't see it adding to much. I already know what they look like. When we have major design or planning sessions, we will get together for a face to face meetings, scheduled out in advanced. We also try to get together for lunch/dinner/meeting every month or so.