command arduino trouth network with wifi ?

hello im searching a way to command an arduino duemilanove with an web interface (read analog port and send data to digital out) with wifi (or other wireless system) i want to build a wireless robot who can be controlled with any pcs with internet

my question is : with an arduino ethernet shield and a wifi router , is it possible to command the arduino trouth internet if the arduino is connected by ethernet and the router connected to the internet ?

thx

Look into the linksys wrt54g, I know it has serial, and it runs custom firmware should be no prob to interface.

Found this thread it may help http://www.arduino.cc/cgi-bin/yabb2/YaBB.pl?num=1255711730

If power supply isn't much of an issue this would probably be a cheaper route than ethernet the shield

I'm working on a routerbot that uses an arduino/ethernet shield and an unmodified netgear wireless router. The below can get you started controlling things using a brouser GUI.

http://www.scienceprog.com/getting-hands-on-arduino-ethernet-shield/