Is there anyway to connect the Arduino Mega to ARC using WiFi like the ESP32 Dev Kit?

I would like to use the DFRobot Gravity: IO Expansion Shield for Arduino V7.1 with a DFRobot ESP8266 Wifi Bee module to try and make this work.  Is there any chance you could supply updated Mega firmware to support this or help me to understand what ARC needs.  

Does ARC just need the Wifi module put in AP mode?  Does it require anything other than that?  If I am understanding this wifi stuff it is taking the wifi input/output and converting it to serial input/output to the Serial port on the Arduino.

I have been working on a new control package for another robot build I have been working on and I would really like to be able to have the ability to use ARC with it so if there is anyway you can find some free cycles DJ it would really be appreciated.  I am not married to the Xbee esp8266 but because the shield supports it I would like to use it.