Yes, I got a rather complicated setup working with 2 ATmega328s, a pair of XBees, the uCam, and a desktop computer. There were also a few other sensors involved and then everything together was used to control 6 motors on a flying blimp.
Email me at jgordo32@jhu.edu with the subject line something along the lines of 'arduino xbee help' or whatever and we can discuss project.