I would use pure maven or gradle, as it is easier to create build scripts, but would steer away from ant.
Ivy is an underused dependency management solution, and I personally have only cursory experience (as in building artifacts but not managing them) and I have never maintained an ivy build, but seems pretty straightforward. One thing to consider is availability of plugins and readily built artifacts(which is proportional to popularity) and maven is the clear leader.
So, my recommendation would be pure maven or gradle.
Edit: In recent years it has become modern for some repo owners to maintain both an ivy and a maven build to increase their code's exposure. If you were to do that, gradle would be simpler as it provides a nice abstraction on top of the nitty gritty maven/ivy stuff, once you are to write your scripts.