I have found some resources on AT Commands for serial interfacing w/ the BeagleBone Black, my PC, and the Wireless Connectivity Kit (two XBee modules w/ adapter boards).
I have not found a good solution for connection and AT Commands yet.
If you are using the Wireless Connectivity Kit and a BBB, please address this post.
I sure could use some advice on where to look online. I have made empty search after empty search. I did find something from SparkFun on AT Commands but I think their info. is geared towards Arduino.
P.S. I have also looked at DigiKey's eewiki.