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I've personally used invision for rapid prototyping but their collaboration tools look great and I'm looking forward to trying them: http://www.invisionapp.com/ They've really put thought into the features that designers would need as well as provided ways to add comments and see previous versions of a particular design.
I've also seen people collaborate via document cameras — let me explain. Let's say you and a team member (or a few) want to quickly iterate on a problem, but sending sketches/wireframes back and forth isn't very efficient. Each team member shares their "screen" (a piece of paper) via their document camera and you're in the realm of live paper paper ...
I like using the Marvel App. It's very easy to use and can save a lot time on a large variety of projects in different stages such as wireframing or high-fidelity mockups. Also the team is constantly adding features to it making it more and more useful.
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