Combined with the information from your previous post, yes, you could do that over a wireless link. You need only modify your program to look for data on the serial port and make decisions based on the information received. Likewise, you could also send out information to the serial port to be sent back to the PC, such as telemetry. I hope this helps.
Also take a look at this http://www.betterbots.com Fluke which is used in Georgia Tech's program to control the S2.
Even better, you could use an XBee on the S2 and a XBee on USB Adapter on the computer. For these options you'd be writing your own code instead of using the GUI.
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Even better, you could use an XBee on the S2 and a XBee on USB Adapter on the computer. For these options you'd be writing your own code instead of using the GUI.