Telepresence Application

Question

I have a robot at home with a webcam and I want to build a telepresence app so I can control it over the Internet. So I need to be able to send video to a app far away, and send and receive commands with that same app. I "should" be able to search and figure out how to send data/commands via tpc or udp or something like that, my question is on the video side. I have searched and found samples and apps that will capture video to an app, but nothing on what to do with it so I can view it remotely. Where do I start? I'm using C# with VS 2005. Thanks Ringo