Connecting Arduino Uno to the Arduino Robot Control Board

I want to connect the uno to the robot's control board then several other things to the uno itself including a wifi shield.

How do I connect the uno to the robot without using the ICSP (uno icsp will be connected the the wifi shield's).

I just mainly need RX/TX and power from the robot.

Can it be done?

Edit: this is the robot that im talking about https://www.arduino.cc/en/Main/Robot

well apparently the +5V and GND on the control board's ICSP can power up both the uno and the wifi shield.
testing comms between robot -> uno -> wifishield now. soldered some pins on D0 and D1 for RX and TX.

updates soon i guess.