ANT? Maven replaced ANT a decade ago
Can you use Maven on your Pi? Absolutely. Maven is pure Java, needs just a JDK, a network connection, and diskspace.
Diskspace on the Pi of course (for the Maven repository) can become a problem.
Or you can use Maven to build the entire deployment package (including all related jars you need) on the PC or Mac and copy everything to the Pi.
Either case, you're going to need a script to set your classpath for the application (you need that on any hardware).