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How can I add Wifi to my robot?

I'm new to robotics but have dabbled in Microcontrollers the last few years and develop software for a living. One thing I've been dreaming of doing for awhile is builting a blimp robot that is controlled over wifi, but I can't seem to find information on is how to connect microcontrollers to some sort of wifi interface. I'm hoping there's some sort of module somewhere that I can interface with.

Here's the plan: