I presently have Ubuntu Intrepid Ibex installed, can connect to WPA encrypted networks without incident, but all from the GUI. I have been exploring the command line more and more, setup Alpine to check my gmail, installed Lynx, etc.; however, I'd like to be able to connect to various WPA encrypted networks while essentially roaming.

So my question basically is how do I do this from the command line? Since I'm going to be potentially using this at a number of places, is there a way to connect that forgoes setting up configuration files? Any help would be much appreciated. Thanks.