As you have the android-maven-plugin in your build, you need to supply path to the SDK. For this maven plugin, this is done by adding it as property (android.sdk.path) in the properties section of the POM.
So you'll have something like this:
<properties>
<android.sdk.path>your/path/here</android.sdk.path>
</properties>
For quick solution, you can just add this to the POM's properties section. However, local settings like this usually go to settings.xml file in the conf dir inside your maven installation. This will make this property always present no matter what pom you use. Or, if you skip the activeProfiles part, you'll have to invoke maven with that profile enabled - "mvn -pandroidProfile clean install".
<profiles>
<profile>
<id>androidProfile</id>
<properties>
<android.sdk.path>your/path/here</android.sdk.path>
</properties>
</profile>
</profiles>
<activeProfiles>
<activeProfile>androidProfile</activeProfile>
</activeProfiles>